Absolutely, this is the kind of things that the Score Editor should probably have had from the beginning.
And a printer button in the toolbar would be nice.
Personaly I have assigned CTRL + P key command to Print.
The default Windows PDF quality is acceptable. I also use Adobe PDF printer, but honestly the difference is very slight.
But one thing that probably not everyone knows and which should be noted is that drawing in the Score Editor and output have been dramatically improved since Cubase 10.5. 
There is still some work left to do, especially on the slurs, but that’s already huge!