what error do you get? 

Did you contact HP on it? 

They’d be the experts on setting up their printer. 

If you’re using wpa3, try setting it for wpa2. Some devices have issues with wpa3 (from my experience)

Thank you for your responses. 
Plemens you were correct the setting needed to be changed to WPA2-PSK.  However we could not locate on the Surfboard portal where this exactly needed to be changed.  After calling Customer Support 4x, we finally got a very nice gentleman to walk us through the steps.  I am going to outline them for any one else that needs to hook up a printer with an Arris Surfboard Router/modem.  
PRINTER MUSTBE ON

Log into portal; it will bring you to Gateway>Summary page

select Connection>WI-FI >NETWORKS 

Under Primary Home ;On the 2.4 GHz line, select the EDIT button,  this brings you to the screen you can change the security mode.

Select WPA2-PSK; input the CAPTCHA at the bottom and Hit SAVE.

Turn printer off for 30-35 seconds, turn back on and you should be all set.