How can I fix '"HPDM.framework" will damage your computer' on macOS Big Sur?
After much trial and error, I was finally able to get my HP DeskJet 1010 printer working again with the following steps:

Download and run the HP Uninstaller app
Download and install HP Printer Drivers v5.1 for macOS
Open 'System Preferences' -&gt; 'Printers &amp; Scanners', right-click the box labeled 'Printers' and select 'Reset printing system...' (if you have more than one printer, you may want to remove just the non-functioning profile by selecting it and clicking the '-' button).
Click the '+' button to add a new printer, select 'HP DeskJet Series', and follow the prompts.

It is my suspicion that this will work with other HP printers affected by their revoked developer certificate.