True, which is why after you have written down your xpubs (or indeed, made any back up of anything in any form), you should test your back up by using it to recover from. If you can successfully recover from it, then you know it is correct. The same goes for seed phrases. I would never create a wallet, write down the seed phrase, and then send coins to the wallet before first testing that the seed phrase I wrote down does indeed recover the same wallet.

Having said all that, if you don't want to write down the xpubs then you can of course print them out. In order to generate addresses to send coins to in your multi-sig set up, you must have all the xpubs together on the same device at some point in order to create the wallet in the first place. Attaching a (dumb) printer to that device in order to print out the xpubs introduces very little additional risk.