Using the SMARTDAC+ GX/GP series' template function, can I output template PDF files at the same time that I directly print out report files?

Yes.
Output to printers is performed using report templates set in the PDF report files.
You can load template files (tpl files) onto the main unit.
For the settings of the reports to be output, turn PDF file ON in the report settings of the settings menu. For details, see section 1.11, "Configuring the Report Function" in the user's manual.
User's Manual (IM 04L51B01-01EN)