Can I prepare my taxes online and print and file a hard copy?

Online tax software for 2023 or earlier years is permanently closed; online for 2024 has not yet opened--that may occur within a few weeks from now.

You can use online (when it becomes available) to prepare a tax return and file by mail if you want to---but you still have to pay for using the software.  The fee for using online is the same whether you e-file or file by mailing the return in an envelope.

The IRS will not begin to accept 2024 returns until sometime in late January 2025.

The short answer is "yes." I have been filing electronically for a long time, and I always squirrel away a hard copy. The answer provided by xmasbaby0 provides additional context/guidance/etc.