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Printing improvements

Ralf Jung requested to merge ralf/printing into master

I noticed that there are still some situations where goals involving WP / Texan triples are not printed very well. This fixes the cases I found.

This MR is best reviewed commit-by-commit. The first commit in this MR adds tests for some of the cases I found; you can see in the ref file how horrible everything looks. The following 3 commits improve the printing and you can seen in the diff the impact of each change.

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