This seems to indicate that yes, OSM must be attributed in print.
Attribution is required, however that does not stop them applying any other license they want. In other words, the maps they create are not CC-by-SA - they are "Produced Works" and can be All Rights Reserved if the publishers want. (although the map data would still be copyright OSM contributors)
Potentially, yes. We're going to go ahead and print the attribution on the maps just in case. Thanks!