Exporting form to PDF model

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I recently developed a form that allows team members to pickup or ship items to a storing warehouse. I want to be able to export each form to a printable PDF, that way material(s) can be tagged and stagged accordingly to the request. I was hoping to have this done in automation, so when each form is generated, a "pick slip" would print directly to a printer in our storing warehouse. Is something like this possible?

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