Using DHCP you have to MAC lock the DHCP server to always assign the printer the same IP address, and make sure it stays that way. Needs a DHCP device a little more usable than a plain router, and you can repurpose an old computer with 2 or more network cards to do this easily.
Nice thing about HP PCL is it really does not care about the actual printer. I print from Linux using an ancient 4MV PPD to the PCL port, and it works perfectly, even though it is a newer PCL5 and PCL6 speaking printer. Old no longer supported distribution, but still usable for my purposes, will use it till the hardware dies.