You probably will if you need to RMA anything in the US. Just had to RMA to Lenovo and Amazon recently and both required me to print out a shipping label.
Amazon RMAs these days can optionally involve carrier pickup, and the carrier brings a premade thermal label with them. You just need to put it back in the box it came in.
The public library is another option for the rare occasion you need to print something.
The UPS store (where I drop off return packages) prints them for free.
If you choose to live near a UPS store for the rest of your life. Or make sure ahead of time to check that the items you buy can be returned via UPS.