To create PDF, after your Create Print Content task add a Create Job task with the Job Preset parameter set to Default, followed by a Create Output task and make sure you specify an Output Preset that generates a PDF. You’ll have to send the Output Preset Configuration to Workflow from the Designer (one already exists for standard PDF output, just pick it and send it to Workflow).
If you specify a different type of Output Preset (say, one that sends directly to a printer), then you can use that to send the job to print through the Output Creation task. If you want to change the printer dynamically in the Workflow, then you can specify in the Create Output task that you want the Output Management to go through Workflow (i.e. it overrides the settings in the Output Preset file) and then you can send it to any of your printer queues in Passthrough mode.
As for the PDF version of the documentation, this will have to wait a little bit because it in a state of constant flux, being modified and augmented quite regularly. We may at some point provide the functionality to convert it on the fly, but there are no dates set for that feature yet.
You didn’t include the DataMapper step in your last post, but I assume it’s just an oversight.
You should run this workflow in step-by-step mode until after the Create Output task. If you’ve made sure to specify that its output should be managed by Workflow, at that stage you should be able to click the View As PDF button in the Debug tab and see the PDF that was just produced by Connect. And it should not ask you any question in the process.