This has been a problem for me for years, with multiple versions of Acrobat, with several versions of MacOS and OS X, and with three different USB-connected printers. Here's the problem, old school T-SPAM-style.
Acrobat DC Continuous Release 2018.011.20058 (happens on multiple versions of Acrobat, including Acrobat Pro X and XI, all Creative Cloud-installed versions)
Canon TS6020 (and other previous models in Canon Pixma line)
PDFs are various PDFs in different PDF levels created from various sources including:
within Acrobat itself (scans, forms, Create PDF From File);
InDesign CC (every version, just trust me on that);
Illustrator CC (most versions, just trust me on that);
Microsoft Word (365, 2016, 2013, 2010, 2007);
and PDF Creator Pilot (4.3, more versions).
When printing PDFs from Acrobat DC on MacOS the print job gets stuck in the print queue and never actually prints. Printing the same PDFs from Preview, Chrome, Safari, Firefox, Opera, and other applications DOES work as expected. Only Acrobat seems to have a problem.
Steps to repeat:
Open PDF in Acrobat DC.
Choose File > Print
Select Canon TS6000 Series printer
Actual Result: PDF sits in printer queue indefinitely while displaying message "Printing - Looking for printer".
Expected Result: PDF will print.
The same PDFs CAN be printed by MacOS Preview without any delay in queue.
The same PDFs CAN be printed by multiple web browsers without any delay in queue.
Acrobat CAN scan from the same multifunction printer.
In addition to the problems described above, I can add that "Printing as Image" does not solve the problem, nor does restarting the computer, nor does quitting and restarting the application. As stated by Pariah Burke, this is an Adobe issue. I am using a MacBook Pro 2016, OS 10.13.6, and a HP Color LaserJet MFP M477fdw via wireless connection. All printing works fine except PDF files from Adobe Acrobat. I'm using Acrobat Pro DC, Continuous Release, Build: 18.11.20058.296032. And yes, if I open the same file in Preview, I can print without any delays.