Update: Finally able to get HP LaserJet 1020 to work in Manjaro-ARM with foo2zjs but not from AUR but from http://foo2zjs.rkkda.com/foo2zjs.tar.gz.
It has been a very long journey to finally got it to print. If you are interested please refer to How to install Printer Driver For HP LaserJet 1020. There are a few dependencies that need to address first.