PCL6 is backward compatible with PCL5.
Just add the printer in Windows 10 as a TCP/IP device, then select the built-in Microsoft PCL6 driver and cross your fingers.:
Source from HP's website: https://developers.hp.com/hp-printer-command-languages-pcl/doc/hp-pcl6-pcl-xl#:~:text=PCL6%20Standard%3A%20Equivalent%20to%20PCL5e%20or%20PCL5c%2C%20intended%20to%20provide%20backward%20compatibility.