Let me explain more how the default Order Receipt Print templates work with taxes.
The behavior of WooCommerce based upon their taxes functionality. When Included taxes are included, the line item is separate, but the subtotal and total are identical. The total includes the tax value.
For example, here is an order from WooCommerce. https://ibb.co/vxmYrW3
As you can see, the Subtotal is $5.00 and the Total is $5.00. In the bracket, it shows the tax value, for the Print templates, we make the tax as a separate line item as taxes need to be shown to the customer. https://ibb.co/CPYpSSw Due to size limitations of using a bracket for the layout width this is the reason for the separate line item to optimize layout.
If you select the WooCommerce option to Exclude Taxes https://ibb.co/sW76Rh4
Now, the Subtotal and Total will be different, as the taxes are not Included in the subtotal anymore, as shown here in this receipt with Taxes are excluded. https://ibb.co/QnpK6P0 and on the receipt template. https://ibb.co/q16g7t8
I hope that helps clarify how tax line items are shown in the Order Receipt templates based upon WooCommerce tax settings.
If you would like to remove line items, change styling or change the default Order Receipt templates logic for taxes, you can make customizations and develop your own custom print templates. Here is a great support forum post on custom print templates: https://www.ads-software.com/support/topic/print-template-compatibility-support/ by creating a custom print template, you can modify how taxes are displayed on the order receipt printed.