If your printers do support ESC/POS (most thermal receipt printers seem to use some sub-set of it), then I think the driver will accommodate your use case: USB or network printing, logo, some formatting. Some of these are quite recent additions.
escpos-php prints to a file pointer. On Linux, you can make the USB printer visible as a a file using the usblp driver, and then just fopen() it (USB receipt example, blog post about installing a USB printer on Linux).
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