the real world fear is not your coins being stolen. but your access to your device/wallet being taken where the coins end up 'burned' via lost keys
That's a perfect use case for paper wallets, they're much easier to copy than hardware.
I was about to say: whether paper or hardware - you're always gonna have a paper or steel backup anyway; so
hiding / protecting a seed always needs to be done, no matter which method you use.
I wouldn't say it's easier to copy a hardware wallet's seed than a paper wallet's seed; it's the exact same thing to be honest.
While you are storing your paper wallet, if someone is able to access your paper wallet, they can ~instantly make a copy of the paper wallet with a camera.
So use one or more passphrases.
All of these supposed "weaknesses" of paper wallets are weaknesses of every wallet which you back up your seed phrase on paper. By creating a wallet, backing it up on paper, and then destroying the electronic copy, then I am only removing some vectors of attack.
Actually, one scenario comes to mind where the person has a backed-up hardware wallet without ever writing it on paper / exposing it to potential spy cameras or anything like that. That's with a device like the Foundation Passport. It allows you to insert a microSD card, back the device up to the card and even do it to multiple cards. You can then either just keep the cards and never plug them in unless needed or mount one right away to read the seed and write it to paper. However, it would be smarter to write it off the device's screen, since the computer could be infected and the seed stolen as soon as the card is inserted.
QR codes that are drawn with a pen, instead of using any printer.
This can be done at your own home and no machine will be used, you just follow instructions and fill up empty squares with permanent marker or pen.
That's a
terrible system
It's far more work than just entering the 12 seed words, and it's far less reliable than using a cheap old laser printer.
The idea about SeedSigner is not mainly for creating paper wallets (in my opinion) but allowing you to also sign transactions (hence the name) while keeping the wallet / seed itself actually offline. It has a camera which can temporarily import the seed through QR code into RAM so it's wiped when power is plugged.