Elias here with Shopify Support. That's a great question!
The all-new Shopify POS Lite is integrated for both, payment and non-payment hardware, so you'll be able to print receipts. Though, as pointed out by @lun, customizing receipts is only available on POS Pro. After Nov 1 if you decide to use the POS Lite subscription the customizations you've made will remain, but you won't be able to modify/edit them unless you subscribe to POS Pro for at least 1 location. Here is a guide to help you choose the right app subscription for your store.
Since you can change your POS app subscriptions at any time, did you want to switch to POS Lite and try printing a receipt? This way, you can see if customizing receipts is a feature you need?
The classic POS is free, come with customize receipts for header , footer and logo
The New POS Lite if free too, but don't allow customizing receipts.......WHAT!!
When you want customize receipts start from 1st Nov 2020.....the only way for now is pay $89 for New POS PRO.......REALLY!!
Apple to apple.......New POS Lite since is FREE, is sound logic for it to copy the same functions as Classic POS, right?