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Btrfs and zfs are self-healing.
You can make a script to check for errors and autocorrection yourself but that needs at least a second hdd. On both drives are the same data and a file or database with the checksums of the data. The script then compares the actual checksums of the two copies and the db checksum. If they match -> perfect. If they don’t match the file where there are two matching checksum is the good one and replaces the faulty one or corrects the db entry, whichever is defect. That’s it. It doesn’t have to be more complicated.
Printing the photos won’t help much. After 20 or so years they are all discolored. You can’t prevent that.
I think SSDs might be the best storage medium for you. Consumer-grade ssds have a 1 year data retention when powered off. That means at least once per year you have to turn it on and copy the data around one time to refresh the cells. This way it’ll probably last several 100 years.
You can’t exactly make it fool-proof. Outside people will never know what you did to create your backup and what to do to access it. Who knows if the drives file system or file types are still readable after 20 years? Who knows if SATA and USB connectors are still around after that time?
For example it is very likely that SATA will disappear within the next 10-15 years as hdds are becoming more and more an enterprise thing and consumers are switching to M.2 ssds.