I’ve never tried it, but some have used Firefox and its silent print feature (definitely the easiest route):
A project in the works, too, is an app called Beam. It mentions raw printing to Zebra printers as a feature, so I would assume the same could be done with ESC/POS printers for receipts, but I'm guessing that would take some additional work. Here's [documentation](https://agritheory.com/documentation/beam/) and its Github repository:
There’s also an app that adds some hardware support, but the downside is it requires QZ Tray and Windows for the computer using the POS:
I'm not sure where the app above stands. I've used it on version 13 and it works. But I haven't tested it on version 14. It does look like someone has forked it and updated it more recently than the original repository above:
As far as I know, these are your best options for streamlining printing with the POS, and I think all of these options only work with the standard POS and not [POS Awesome](https://github.com/yrestom/POS-Awesome).