Will it work with Windows XP sp1?

Can't say but, it does work with Windows XP and sp3

Does it come with ink?

Yes, they are setup cartridges so they have a limited number of pages they will print.

what kind of ink does this printer take?

952xl for the higher capacity. You need black, yellow, cyan, magenta. It has nice features and has been pretty reliable, printing color 50 page docs couple of times a day.

Questions & Answers: HP OfficeJet Pro 8210 Wireless Printer - Newegg.com

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HP OfficeJet Pro 8210 Wireless Colour Inkjet Printer

Wireless connectivity for mobile-friendly printing
Save on paper costs with available duplex printing
Compatible with Microsoft and Apple operating systems
Accepts standard and high-yield HP 952 ink cartridges
Customize the printer with settings for up to five users

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