Cleaned the pickup roller (pull out the toner cartridge - it's the large 1" wide roller at the back) with a little 91% isopropyl alcohol ($2.50 at the drug store), The printer feeds perfectly now.
If this didn't work, then Samsung tech support suggested replacing the pickup roller assembly which is available at www.samsungparts.com ($6.95) along with a service manual ($28). But, fortunately, it wasn't necessary.
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