Interestingly (or not as the case may be) there is a way to use CIM to gather data from multiple sources in one script:
$s = New-CimSession -ComputerName Server1, Server2, Server3
Get-CIMInstance Win32_PerfFormattedData_Spooler_PrintQueue -CimSession $s| Select Name, Jobs, JobErrors, JobsSpooling, MaxJobsSpooling, TotalJobsPrinted, TotalPagesPrinted | Sort Name | format-table
Which creates a (seemingly deduped) table showing all the printers across all the hosts specified in alphabetical order. Thus not needing the Agent on all hosts…