In the past I might have said Yes, take pics/video and walk away. But I don't recommend that anymore, always get a printout.

I had a "risky" experience, where a Hendrick Camaro I returned went missing at a major airport location for multiple days. Eventually they found the car but couldn't find the keys and were going to charge me for them. They also were hesitant to even close out my rental after they found it due to no keys, no way to verify return mileage. After multiple calls back/forth, eventually they said they found the car in a location customers couldn't access, so they agree I probably wasn't the one who parked it there and lost the keys. They even hinted at the possibility maybe I didn't drive it there but moved it there by other means (they said for example they own a machine that can pick up/drag cars around or something, maybe they were simply referring to a tow truck. But why would a customer have one and how would we use one inside their facility?).

My situation was ultimately resolved, but it was a tremendous hassle involving 3AM phone calls with the Hertz location manager trying to figure this out. I even repeatedly informed them to just check their video footage, and that I have pictures and video of my return and location. They didn't care, they didn't even want my video/photo proof. It was a ridiculous experience, and I can easily see how if things had gone slightly differently by chance, Hertz might have taken all manner of actions against me for "stealing" their flagship car.