In the meantime, there’s a VERY useful extension that makes printing to .pdf one-click easy as you (and I) desire. It’s appropriately titled: “Save as Pdf” and works as advertised (at least for me and evidently some thousands of others). For the record, I have no affiliation with any extension developers. This extension just works for me saving time and frustration!
Yes, I know how to do this, but this isn’t what I wanted.
It turns out that you once you download it you can click on the download and then ask for it to display it automatically in the system viewer. It still requires two clicks so is longer than in every other browser (all of which can be configured to open directly in your favorite viewer), but at least it isn’t quite so difficult.
It’s quite silly for Brave to not fix this “feature”. Please do fix it !