We have a publicly available thermal printer in the Assembly! It is a completely normal ESC/POS printer, which means it can also print plain text files!

Model: Epson TM-T88IV

URL (for CUPS)
lpd://151.217.84.14/LPT1

Drivers für CUPS
https://download.ebz.epson.net/dsc/du/02/DriverDownloadInfo.do?LG2=EN&CN2=US&CTI=205&PRN=Software&OSC=LX

Via Terminal:
rlpr --printer=LPT1@151.217.84.14 file.txt