mimaki some time ago had the option to print directly to a thin media. not sure thickness though. from memory, 2mm, but was aided by roller tables.
the elements printer is a water based printer and i beleive can print direct to rigid media upto 1.5mm thick and only costs around £7k
both the above are based on machines i looked at a couple of years ago… so keep that in mind.
other than that, your heading towards rigid media flatbed printers, but costs go way up!
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