Publication ready output from summarise_all

For the purpose of generating a table for print? Probably not. There are lots of table-making packages, but this one came to mind, given the way in which you described your desired output:
https://cran.r-project.org/web/packages/qwraps2/vignettes/summary-statistics.html
Example from vignette:

There are quite a few threads on options here, too, e.g.

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