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Hopefully someone can help me out with this.
I have a pretty large size model with a substantial amount of submodels.
How can I "Print to File," as in to PDF, the entire set of steps for each submodel into 1 pdf?

Thanks!

I am not sure what you ask, but this is what LPub is for.
Reading your question I think your model does not have steps yet?
If not, add them and open the file in LPub.
A page per step and per submodel (with steps) should be generated.
Create multi step pages or convert submodels to callouts to get the instructions ready.
Then save to PDF!

Or if you tired with trying. Check new version of this gorgeous tool on https://github.com/Jeremy1980/licreator.