The ML-2010 is a GDI printer. Unlike modern PostScript or PCL printers, GDI relies on the computer’s CPU to do the heavy lifting of rendering the page. Without Samsung’s proprietary driver, your Mac has no idea how to talk to it. The (Free) Fix: Splix Don't go digging through Samsung’s dead website. The official drivers stopped working two macOS versions ago.
Have you gotten an ancient printer working on a modern Mac? Tell me your war story in the comments below! samsung ml-2010 driver mac
Here is the definitive guide to resurrecting your ML-2010. If you plug your ML-2010 into your USB-C hub right now, your Mac will see something is there, but it will call it a "Generic Printer." If you try to print, it will either do nothing, spit out pages of raw code (PostScript errors), or crash the print queue. The ML-2010 is a GDI printer