If you know a bit of web programming you can grab sheet music straight from the code in musescore when you inspect element (albeit low quality). It's been a while since I discovered this and did it so I don't recall how exactly to do so but it wasn't too tricky
Downloading there is straightforward: look at network requests, redownload svg's of individual pages with wget and reassemble those into a pdf. I did that today and the resulting quality wasn't exactly low - though I didn't examine it too closely. Readability was perfect.
Probably could be automated, but I'm not bothered enough to do so yet.