BTW, thanks for engaging in this discussion. It's important and it's helping me rethink through all of this.
Another option is making a fake ballot. The local newspaper used to helpfully publish their suggestion of how a devout left wing progressive would fill out their ballot. They're currently the establishment, so they're likely to be the largest problem, and its solved right there.
And if I'm understanding correctly (and I might not be), you can confirm that the printout is accurate.
Edit to add: If you can confirm that all of the ids are unique and that the total number of ids are correct, that would go a long way towards verification, along with checking arbitrary receipts against the results, regardless if the ids are pre-printed or printed afterward.
I'd prefer not having any printers involved though. Pre-printed ballots would work just fine and there's one less piece of equipment involved during the actual vote.