I have an iPad and downloaded PDF Expert and got an Apple Pencil to sign digital documents and I've only occasionally had issues I can't get around - Amazon return labels are the biggest pain in the ass.
If you're from Amazon, sort out a way we can ship returns without needing a printer!
I don't think you get to pick that service anywhere as such, so it might be regional or limited in some other way. When you initiate a return, you don't know whether you'll need a printer or not.