The best resolution to use for capturing photos should almost always be the highest resolution of your image capture device, which in your case means a camera.
I recommend that you shoot RAW for the best results. However, consumer cameras are terrible when it comes to “scanning” or “digitizing” a printed image. They simply lack the resolution.
I recommend you check out the article at THIS LINK. Of particular note is the section: What is a RAW file? The challenge is that printing is not just a matter of shooting an image and sending it off to a printer. Creating a decent print requires some work on a computer afterwards: Post Processing and this is a somewhat different skill from that of taking the image in the first place.
Much depends on what size prints you are hoping to create - do you have some idea of what that would be? Is there a particular purpose for printing: family photos, photos for some kind of show, to compete, etc?
07/31/2023: New firmware updates are available.
05/31/2023: New firmware updates are available.
05/18/2023: New firmware updates are available.
04/20/2023: New firmware version 1.4.1 is available for EOS R3
03/30/2023: New firmware updates are available.
2/07/2023: New product announcements!EOS R8 EOS R50RF-S55-210mm F5-7.1 IS STMRF24-50mm F4.5-6.3 IS STMRF15-30mm F4.5-6.3 IS STM