I am not using xubuntu 20.04 now, I switch to another linux distro recently, so 
I can not give you the output you are looking for.
All I can say is that adding myself in the lp group solved the issue

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https://bugs.launchpad.net/bugs/1890464

Title:
  Can not scan as user

Status in sane-backends package in Ubuntu:
  Confirmed

Bug description:
  # Description

  I can not scan as user using software like simple-scan or xsane.
  If I run xsane and simple-scan with sudo, I can use my scanner.

  It seems to be a permission issue

  # Step to reproduce
   
  1. Start xsane or simple-scan as user
  2. xsane and simple-scan fail to scan, "device is not connected"
  3. Start xsane or simple-scan with sudo
  4. It works, you can scan

  # Infos

  xubuntu 20.04
  HP Deskjet 2540 All-in-One Printer

  antoine@Talos:~$ apt show sane-utils
  Package: sane-utils
  Version: 1.0.29-0ubuntu5

  
  antoine@Talos:~$ apt show libsane
  Package: libsane
  Version: 1.0.29-0ubuntu5

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