I am currently have a couple terminals set to use the same receipt printer on my Aloha system. Not sure if that is what you are using... but, it is very simple to configure in the terminal maintenance screen.
If your POS software is accessing the printer through a Windows printer driver then just do it all at the driver level (i.e. set each POS terminal's printer driver to point to the same printer.) You will need to share the printer over the network from the machine to which it is physically connected.
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