Yes, I shoot in RAW and import to Lightroom for some global adjustments and then often use PS, saving back to Lightroom. I use the LR print module as I prefer that. I am afraid I have no idea whether I "optimise for printing", so presumably I dont!
I am also not sure I undertand the concept of getting the midtones within acceptable range in order to concentrate on the highlights and shadows. My limited understanding was that it is best to first adjust for blown highlights and the lost detail in the blacks before sorting out the midtones.