Hi,
Thanks for sharing your experience in our community.
Given your case, you would like to save or print PDF directly to SharePoint, based on my test and experience, if you are saving a Word file to PDF, you can click Save As> select the related SharePoint site and also change the format as .pdf, then save to the SharePoint site directly.
As for printing the PDF, I’m not sure your exact meaning, because when we go to SharePoint document library> select the pdf> there has a Print button, may I know what’s the exact meaning to print?
Appreciate again for your cooperation to post back with any information, we will try our best to help you troubleshoot it. 😊
Best regards,
Gloria