For document scanning I use this f-droid.org/en/packages/org.fairscan.app/ directly on the phone, works well even with a shitty camera.

I never had the need to print from android but I found this f-droid.org/…/io.github.benoitduffez.cupsprint/, it might work.

Scanservejs looks nice but one more service to maintain and secure. I guess I’m a minimalist.