Mac only.
In Safari (mac) I Command-E to export as pdf. (return)
I had mapped "Save as PDF ..." to Command-P so two in a row would save as PDF. (until I found the above)
In Firefox, you can set the default printer to PDF (Apple, please get a clue) so Command-P and return save as PDF.
These both observe your last or default settings.
I can't read the graphic at github.
Other apps? I use them much less frequently for "print to PDF" so I play it by ear when using them. (The "Save as PDF ..." Command-P trick seems to be global.)