It will be an advantage if you bring a printed version of the declaration barcode

If you have prepared a declaration in DMS, a barcode is generated on the first page of the declaration. The Customs Agency recommends that shipping agents and carriers ensure that the driver brings a printed version of the first page of the declaration, with the barcode on it, to the customs office in Denmark. If the Customs Agency can scan a consignment instead of entering the details manually, the processing will be faster and the risk of keying errors is minimised.

If this is possible for shipping agents and carriers, they can gather the barcodes in one single document which can contain multiple barcodes on one page.

Another possibility is that the driver can bring the barcode electronically on a phone or tablet (recent version) so that the Customs Agency can scan the barcode directly from the device.