Can I use Wi-Fi Direct to print from my HP Envy 5540 without a router?

Yes, follow these steps: Ensure your printer’s Wi-Fi Direct is turned on via the control panel, connect your device to the printer using its Wireless Direct name as the network, and enter any prompt for the password if necessary.

From the official HP Envy 5540 All-in-One Printer manual, page 5

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