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Reformulating some of my comments above as an answer so they don't get lost:

To compose, you can do:

f(x,y)=(x+2*y, x^2)
g(x,y)=(sin(x), cos(x*y))
f(*g)

Note also that I didn't have to declare x and y to be variables; that is automatically done when they are used as inputs in an f(x,y)=... declaration.

As for printing of symbolic matrices, see my comment above. I would love if someone would write the necessary straightforward class to improve the printing.