You didn't indicate what contents the PDF file carries (i.e. fixed content for all customers or customized on a per-order basis), but your mention of the rl_invoice3 plugin makes me guess that it's the customized version.
I'd looked at rl_invoice3 earlier this year, thought it was overly-complex and then looked at the PDF processing that's built into Super Orders (based on the current GitHub version: https://github.com/DivaVocals/zen_SuperOrders). With some modifications, that did the trick to fulfill one of my clients' requests.
The order-specific PDF-generation in that plugin is present in the module /YOUR_ADMIN/includes/functions/extra_functions/lcsd_merged_packing_slips.php.


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