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And here's a Xerox Phaser 3020 driver, it contains arm (32-bit) binaries and libraries:
https://download.support.xerox.com/pub/drivers/3020/drivers/linux/en_GB/Xerox_Phaser_3020_Linux-Driver.tar.gz

bchemnet, take a look at HP 107 drivers. This is a new HP device, but it is made on the same hardware and software platform as Samsung Xpress SL-M2020 and also uses SPL with uld driver.

The latest driver available for this device is V1.00.39:00.12_00.15 from Jun 26, 2020. The archive includes i386, amd64, aarch64 and mips64 binary libraries.
https://support.hp.com/us-en/drivers/selfservice/hp-laser-100-printer-series/24494339/model/24494342
https://ftp.hp.com/pub/softlib/software13/printers/CLP150/uld-hp_V1.00.39.12_00.15.tar.gz

The configuration files are all stripped for HP, but I won't be surprised if it would work with Samsung printers by just copying oem.conf and smfp.conf from the Samsung uld.

Since this printer supports Wi-Fi Direct, Mopria and AirPrint, it should support PDF, PCLm or other raster language. Try generic driver, it should work.
This printer also supports SPL, splix driver should also work.

I've set up modern (driverless) printing to SCX-4521F on Orange Pi One with Debian 12 (Armbian), all without proprietary drivers.
All it took:

• Install CUPS (apt install cups)
• Install SPLIX printing driver (apt install printer-driver-splix)
• Install Avahi (apt install avahi-daemon)
• Configure printer using CUPS web interface (127.0.0.1:631) and enable sharing

And that's it. The printing is visible with auto-discovery and works from Android phone, from Linux and Windows PC, all without additional drivers or configuration on the phone/PCs.

Scanning requires some additional steps. There's a bug in xerox_mfp backend which needs to be fixed first: https://gitlab.com/sane-project/backends/-/issues/706
And there are additional patches which got merged only today (27 Sep 2023): https://gitlab.com/sane-project/backends/-/issues/707
With these patches, sane would work correctly.

You can either share the scanner with sane network capabilities itself, or you can install AirSane driverless (AirPrint) solution, as well as scanservjs web interface.

This is initially a bug in USB implementation of the scanner which is triggered in xerox_mfp backend.
Since you're using smfp, try to disble xerox_mfp (comment it with # symbol) in /etc/sane.d/dll.conf.

You can also try to connect the device to USB3 port, sometimes it works better there.

https://gitlab.com/sane-project/backends/-/issues/706

Fix for xerox_mfp is on the way.

This is initially a bug in USB implementation of the scanner which is triggered in xerox_mfp backend (yes, even 10 years later).

https://gitlab.com/sane-project/backends/-/issues/706