Have you tried "Let Printer Manage Color" in the Print > Color Management dialog? I sense the problem could be clogged color printer head or dried color cartridges ( not enough ink to print, so it defaults to Grayscale ). I do not know what the print cartridges look like or if that printer has a separate print head. There should be an option in the HP Print Utility app to choose clean or clear print cartridges/print heads. See if swapping the ink cartridges for new ones solves the problem. You've stumped me. But, it sounds like a hardware problem. Have you updated the firmware?
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