A print view can look different from the normal page. The URL decision depends on whether it contains the same main content or forms a separate document.
Check what is actually printed
Fictional example: /guides/delivery/?print=1 removes the menu and footer but preserves the article. A canonical pointing to the regular article can identify the preferred version. It remains a search-engine signal, not a guaranteed selection.
Compare the complete text. If tables, warnings or dynamically loaded sections disappear, fix that output problem first. A canonical tag cannot repair an incomplete print view.
A separately maintained checklist with its own steps is a different case. A print-friendly layout alone does not make it a duplicate.
Is a second URL necessary?
When only presentation changes, a print stylesheet on the same page may be sufficient. This avoids another address. Whether changing the implementation is worthwhile depends on the existing application; a working print feature does not automatically require redevelopment.
For a separate print URL, check its HTTP response, canonical in the HTML head and link back to the normal version. Content links and the sitemap should support the chosen main address. Then test the printed output itself: readable tables and complete warnings matter more to readers than a tidy URL alone.
Related check: Check a canonical redirect destination.
A defined print-view or metadata correction can be requested through Frontend optimisation.