Just remember that all of this applies mostly to bordered printing, not borderless.
The discussion of resampling to a printer resolution is largely premised on Lightroom or Qimage or whatever doing higher-quality resampling than the printer or its driver would. If you want to make sure that the printer does not resample, then you probably have to print in bordered more.
If you print in bordered mode, you should be able to resample in Lightroom or Qimage or whatever to the exact pixel count for the output size and resolution you're using. E.g., if I print an 8x10 inch image area on a letter-size (8.5x11 in) sheet with the Canon Pro-100, I resampling to 2400x3000 pixels means the printer won't do any resampling.
However, if you print borderless, the printer is going to insist on some overspray, for which it will resample unless you happen to have sent it the exactly-right number of pixels. With some printers the degree of overspray is fixed--which is not to say that it is readily and precisely discernible. With others it's adjustable. For example, the Pro-100 has a four-position overspray control (called "extension"), and based on my measurements, it appears to me that those settings correspond to about 0.06%, 1.1%, 1.6%, and 2.6%. So if I want to print an 8x10 inch picture using (instead of letter-size) 8x10 paper, depending on settings, the printer appears to need, and therefore if necessary resample to, roughly 2401x3002, 2425x3032, 2439x3049, or 2463x3079. Unfortunately, I don't know how to determine precisely.