not saying that you should do them in inkscape - you can if you wish, but it is not necessary - that is personal choice as to which is best

all you need do is select all the objects in xaralx that you wish to be in the print, export these as a bitmap [suggest you use .png], import this into either inkscape [or gimp] and simply print from there

you need to make sure the export resolution from xaralx is suitable for print as mentioned