For one folder in our document library files are added by printing the
document to a PDF and saving it directly into the SharePoint file path.
When we do it this way the document is in 'checked out' status and
noone can see it expect the person that added it.

I checked for previous posts and found an explanation of the following:

"Documents that are uploaded to a Document Library with required
metadata or multiple content types will be uploaded as Checked Out
documents"

I checked what fields were required and only the "Name" field, which is
the document file name, is required. We do have the Title field listed
to be filled out when you upload a file but it is not required. For the
multiple content types part is this referring to multiple file types?

Are the only options to either turn the Check Out functionality off or
to use the Manage Checked Out documents function?