I've never heard of it being possible to downgrade those types of firmware updates in any of the news articles about that atrocious behavior by HP.
Sometimes firmware can be downgraded on some devices while other times it may not be possible. I know that even if some firmware can normally be downgraded on a particular device.....once in a while a vendor may release a firmware update that cannot be downgraded.
A quick search revealed this HP forum post:
https://h30434.www3.hp.com/t5/Printer-Setup-Software-Drivers/downgrade-of-HP-printer-6970/m-p/9238634/highlight/true#M330054
FYI, the next time you purchase a printer, I would recommend voting with your wallet & purchase another brand which doesn't cripple a printer after you purchase it. HP has proven they will cripple printers after purchase.