I don't think that the manuals have ever been available on paper.
If you mean the guides to complete tax returns, they stopped sending those out on paper about two or three years ago - thankfully. We simply binned them and used the online versions. Hugely wasteful, imo.
As to forms, you probably can get them on paper, but I'd question the need. We just keep pdf copies and print them off - it's much quicker than getting them sent out