We had an entire PD session this year on printing. The occupational therapist assigned to our school has been in occasionally to work with certain kids on their printing.
By Grade 6, it's not really something we focus on too much in the classroom, unless it's unreadable.
Try some writing at home and watch for things like proper posture, proper holding of the pencil, forming letters properly from the top to the bottom. Try some different pencil grips if gripping the pencil looks like it might be the problem.
I recommended to one of my students to sign up for calligraphy classes - it's helped tremendously.
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