Airprint drops printer

I have iPad 12.9 6th generation and iPhone 15 pro. I have HP Officejet Pro 6970 printer. When I use AirPrint, I am able to print, but after 10 - 15 minutes of not printing, it tells me No AirPrint Printers Found, the next time I try to print. I turn the printer off and back on, and it prints fine. It seems that AirPrint loses the printer whenever it goes into sleep mode. However, waking the printer from sleep does not reestablish the connection. The only way to do that is to shut the printer down and restart it. My previous 3rd generation iPad and iPhone 11 did not have this issue. They stayed connected 24/7. If I look at devices connected to wifi, the printer, iPad, and phone are all listed as connected, but the iPad and phone do not find the printer. All software for printer and Apple devices is up to date. How can I stop the AirPrint from dropping the printer?