Hi,
Unfortunately, the ML-2165W does not support the AirPrint technology.
About AirPrint - Apple Support
Use AirPrint to print from your iPhone, iPad, or iPod touch - Apple Support
So, without an AirPrint printer, you would have to use an iOS app from the printer manufacturer (such as the HP Samsung Mobile Print), or possibly something similar from a third party.
Alternatively, you could perhaps have a look at a Mac application such as Printopia (https://www.decisivetactics.com/products/printopia/).
By the way, please note that there is a (May 9, 2022) V3.93.03 macOS 12 version of the Samsung universal printer driver from HP.
https://ftp.hp.com/pub/softlib/software13/printers/SS/Print_Common_SW/Samsung_Mac_Driver_V3.93.03.dmg
See also this post.
Make sure that a printer driver download is from an official web site for a printer manufacturer, or from Apple.