Aria here, one of the Social Care gurus at Shopify.
You are correct, in order to print receipts, you need to be using an iPad with the retail package. Otherwise, you can email receipts but not print them. You can find more information in this guide.
We are making improvements to our POS all the time, it's definitely a big project for us. I'm sorry I was unable to give you the news you were looking for right now.
Let me know if you have any more questions.
Social Care Guru