I am unsure who you spoke to but Principal does send out a 1099-R for retirement benefits. This is not an option that they have, the law says they have to issue 1099-R's for everyone that they paid more than $10 to. They may have an option where you can get your 1099-R online, but unless you somehow selected to go paperless, they do mail out the 1099-R.
If you are having trouble getting one, you may want to contact them again. If for some reason, you continue to have difficulty in receiving one, you will need to contact the IRS at 800-829-1040 for help with getting your 1099-R. But, again, I would call Principal again before doing that. They do have until January 31st to send out all tax forms.
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