They do here in pennsylvania, even with an electronic touchscreen. The ballot is printed and you check that it recorded your stuff correctly and then immediately put into a lockbox for tabulation later.

This seems like a fair compromise as long as the actual ballot is on paper and human readable?

Definitely. Paper trail is an absolute must. Use machines to count the paper ballots and then if anyone wants to contest the results they can pay for a 3rd party to hand count the paper ballots.

I love Americans making arguments against things like paper ballots or health care on the basis of "it's too expensive for such a large country", as-if these things aren't paid for on a per-capita basis.

Every other country, big or small, can afford to do these things.

(Meanwhile, the voting machines are more expensive!)