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If it is an official edition published after the death of the author, there will be a note about this in the imprint. Only publishers who want to deceive do not give exact information about the circumstances of the publication. If you have a single print outside of a portfolio, and that is printed from the original plate, it might be difficult to tell on first glance. Especially in the early days of graphic art (16th - 18th century approximately) there were no established copyright laws, and many prints were published that were imitations of the originals (Marcantonio Raimondi copied Dürer etchings, for example). The field of art prints is very complex and fascinating, and you should take a lot of time to learn about it. You might want to consult an expert for graphic art. If you happen to have a good museum in your neighborhood, that's were I would go. If the museum has a department for prints and drawings, the responsible curator there should be able to help you.
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