Remove printf from output utilities

This commit removes the unused printf functions from the output utilities. It also adds `const` keywords where possible. Finally, it removes overloaded `const char*` functions if the same function existed for `const std::string&` and the `const char*` version was only casting the `const char*` to an `std::string`. This conversion happens implicitly, so the `const char*` version is not needed.

Note: this commit does not attempt to clean up the macros, something that we should consider in the future.

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