I do this too. And each time I mention my hard copies I also have to explain there are actually 3 copies, physically isolated, etc. Hope you're doing the same.
You can store the TOTP seeds in more compact form by converting QR code screenshots to alphanumeric using zbar barcode tools.
In my experience it has difficulty parsing some QR codes created using CSS due to tiny borders between blocks. Those can be fixed by applying a small gaussian blur followed by sharpening (use imagemagick for maximum automation) to fill out the borders.
since the qr code is just the totp seed, i simply print the seed in huge font on a sheet of paper. chance of enough degredation to inlegibility is pretty slim if stored correctly
Screenshot the QR Code and print it? Put it in a vault or store somewhere safe. It’s a standard practice for securing enterprise accounts (AWS root acc. for example)