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is it possible to add a separate caption to each photo when printing several photos on one sheet of paper in lightroom's print module?
Only if you are using the Contact Sheet where all the photos are the same size.
The information you can add to a photo is in PRINT->PAGE->PHOTO INFO. You do loose space on the edge of the photo the PHOTO INFO is shown.
PAGE INFO is only in Single Image/Contact Sheet, not in Picture Package or Contact Sheet.