GNU/Linux Ubuntu 20.04 Installing Samsung Laser Printer Driver Guide
How to Install Samsung Laser Printer on Ubuntu 20.04 Focal LTS GNU/Linux Based GNU/Linux desktops – Step by step Tutorials.
And this Samsung Laser Printer on Ubuntu Focal Support only some models like (ML-15xx, ML-16xx, ML-17xx, ML-2xxx, ML-3xxx) and Color (CLP-200,CLP-3xx,CLP-5xx, CLP-6xx, CLX-21xx, CLX-31xx), but Not the Latest ones! For a detailed list see: Openprinting.org Docs.
Especially relevant, for Others Samsung Printer Models See instead: How to Install Samsung Unified Driver.
Finally, this guide includes detailed instructions about to Get Started Scanning on Ubuntu.

1. Terminal QuickStart
How to QuickStart with Command Line on Ubuntu
First, Update the Apt Repo Sources with:
sudo apt update
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