If you're repairing a printer, it's a good idea to figure out why (and what part of) the chip failed.

If the failure is in the half-bridge, then the ULN2003 _might_ be safe for that portion, but you certainly want a beefier half-bridge. If darlingtons tend to fail, then you don't want to derate them by swapping to the '2003.

If you want to replace the darlingtons, seven TIP121s in a row might work. You alternate short-lead, long-lead to fit them all in the space. Be sure that the base current is limited somehow, or you would fry your 8052.