Paper printing is no big deal if you stick carefully to your first thought about linux-compatible hardware.
I use Brother laser printers whenever I need a hard copy. That brand tends to work well with linux, but research the model number in conjunction with the distribution that you’re using before you purchase.
Your point about locked in software is very important. Even in my own industry, some of my earlier jobs relied on custom Windows software for billing, dictation, document creation, and more. A lot of former nonstarters have been pushed to the cloud, but there are still challenges.