How “not use it very often” are we talking about? The critical thing for any printer is first and foremost bed leveling. If you get something like an MP select mini The footprint is about 30cm^3. You can absolutely throw it in a box and just pull it out whenever BUT you will need about 30 minutes to relevel the bed just perfect and potentially run a test print. That said, this machine also only prints a 10cm^3 and it will handle PETG IF it’s been modded otherwise it’s PLA and that’s it.

Which segue nicely into my next question: What will you be printing? Models and minis? Functional parts? Random statues you find online of waifus? (Only slightly kidding)

This matters a LOT.

For the first: The mini will sorta work but not be great with details. Fort the second plan on a printer that can handle PETG at least. For the latter, you want to look into a resin printer. They WILL fit into a closet when emptied and cleaned BUT the cleaning process is both lengthy, tedious and potentially noxious and requires quite a bit of space so I didn’t even mention them in the first part.