Currently it seems that the audience of a story map can only print it if the story map is shared to public. However; we don't always share our org content to public, and still need to be able to print a story map to pdf
Please enable printing for story maps that are private or shared at group level!
See for info about sharing - it says story must be shared (but doesn't specify that "shared" means shared to public). The ability to print a story map that is private or shared only at the group level is absent