There are a lot of sliders and settings in the print module and bringing in the tools from other modules would surely just add extra complexity. When in the print module just hit the 'R' key and you immediately go into crop mode. Then just hit Command P (Mac) and you are right back in the Print mode. Personally, and I do a huge amount of printing in Lightroom, I think the layout is about right. The problem is that no piece of software is going to suit everyones workflow exactly but I think Lightroom does a very good job if you use it enough to become familiar with it. I still find new ways of doing things most weeks in LR, but I am a slow learner and find that I need to get very familiar with some aspects before trying to learn and remember something new. Keyboard shortcuts save a lot of time, and if you use say a Wacom graphics tablet and programme the buttons on it, you can use LR so easily and quickly.
By the way, you can do everything in Photoshop in one workspace, but look how complicated the interface is on that!