I would definitely look at using a hypervisor of some form on the two servers (I would look at Hyper-V Server or XCP-NG as they would allow you to move virtual machines between the two servers during updates or configuration) and then create virtual machines for the Windows and Linux boxes.
Also, if you want the printers to be shared, I would connect them to the network and use the Print Services feature on the Windows 2016 box to manage deployment of those printers and drivers.
As far as I'm aware CentOS is used in the enterprise (XCP-NG is based off of it) but from my experience as a sysadmin, most of our servers are Windows based (mainly because of specific application requirements) and we have about 4-5 linux boxes running Ubuntu or some heavily customised version of linux (usually found in appliances such as NetBotz or MobileIron).
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