I reworked this code so that it also gets triggered when they use the previous and next buttons. Also note the name of the button wrapper changes depending on if is an initiation/submission form or a form after that. So I included both options. You will just need to un-comment the line needed and comment out the line not needed depending on what type fo form you are using.  I made the function because I did not like needing to edit the code in multiple places.

$(document).ready(function(){

  /*******************************************************************************/
  /*                    START: show Submit button on each tab                    */
  /*******************************************************************************/ 
  function showButtonWrapper() {
    /* used for initiation/submission form */ 
    $('.btn-wrapper input[type=submit]').removeClass('hidden');
    /* used after initiation/submission form*/
    //$('.button-wrap input[type=submit]').removeClass('hidden');
    
  };
    
    
  
  /* next button clicked */
  $(document).on('click','.cf-next-btn ',function(){    
    showButtonWrapper()
  }); 

  /* Previous button clicked */
  $(document).on('click','.cf-prev-btn ',function(){    
    showButtonWrapper()
  });
  
  /* tab  clicked */
  $('.cf-pagination-tabs li').click(function(){
    showButtonWrapper();
  }); 

  $('.cf-pagination-tabs li').eq(0).trigger('click');
  /*******************************************************************************/
  /*                     END: show Submit button on each tab                     */
  /*******************************************************************************/

}); /* END: $(document).ready (function () */

EDIT: moved "$('.cf-pagination-tabs li').eq(0).trigger('click');" to end of code.

My team and I have now found a way to use CSS to show the 'wrapper' the buttons are in on every tab. Note that the 'wrapper' class name changes depending on if it's the initial task or any other task in the process. That is why there are two lines of CSS code. 

/* Show buttons on all tabs */
.btn-wrapper input[type=submit] {display: initial!important;}/* used for initial submission task */ 
.button-wrap input[type=submit] {display: initial!important;}/* used after initial submission task*/

I don't think pagination is intended to work that way because it is meant to be a progression, Start > Finish.

You could create a custom html element on each page and put a button in there that triggers the Submit button, but that would appear above the "previous/next" buttons so you'd need some CSS maneuvering to get it to look clean.

It sounds like collapse-able sections might be more appropriate for this situation, but if you're dead-set on pagination, custom HTML, CSS, and JavaScript can make this happen.

I could see that possibly being a primary use for the Pagination, but the settings on the form let you pick if you want Previous/Next buttons to be displayed at all and if it should be displayed as Navigation Tabs, Navigation DropDown, a Progress Bar or to hide them completely.  

Our Forms have a collection with about 10 fields in it that typically is filled out with multiple items per form. Having them collapse within a section makes it more difficult for reviewers to be able to go to that collection directly on our forms. The pages also help separate out what a previous person entered from the data this step needs to focus on. It's more for providing context that is easily available to the person currently acting on the form in the process, which yes could also be done with a collapsible section as well.

When using Navigation Tabs, it doesn't imply that you should have to progress through the tabs just to get to the submit button. I didn't expect the submit buttons to be at the very end of the process when the comments are always available.

I think it is hidden because it is automatically added to the end of the page which happens to be grouped into whatever content is in the last page regardless of the pagination settings being used. The submit buttons are within their own DIV at the end of the page. I think I could use some JS/CSS to make it visible at all times and not be associated to the end of the page.

I'll have to work with this some more but it seems like it'd be pretty simple.