"I really don't understand why companies like Turbotax only offer to mail it from a location. "
TurboTax does not offer to mail your returns.
The IRS wants you to e-file returns (of course, this works only for the current year). TurboTax keeps prices down by e-filing your return as often as possible.
If TurboTax were to have a print and mail facility, it would have to increase prices.
Besides, as you may now know, prior year returns on done with the CD/download software that is installed on your computer. TurboTax does not have a copy of your return in that case, so could not print and mail it anyway.
"For what I can tell USPS has no online service. " - you mean that USPS does not deliver email? No, it does not.
The special arrangement that the USPS has is the "mailbox rule", that is, when you drop your printed tax return (in a stamped envelope, of course) into a mailbox, it is considered delivered. You may - but or not required to - use a USPS service like certified mail or proof of mailing to show that the USPS in fact got the tax return to deliver.
The IRS has also certified a few delivery services to deliver tax returns with the same sort of rule - once it is accepted by the delivery company, it is considered "mailed". Please see this IRS website.
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