Is this an issue with a particular PDF file or with all the PDFs? Please try with a different PDF file and check.
What is the version of the Acrobat DC and the make and model of the printer? To check the version go to Help > About Acrobat and make sure you have the recent version 22.1.20169 installed. Go to Help > Check for updates and reboot the computer once.
Please check for any missing/pending updates for the printer driver and firmware and try updating it. You may also try to remove the printer driver and firmware and reboot the computer and reinstall them from the manufacturer's website and check.
For testing, please try to open the PDF with Google Chrome (Web browser) and then try to print the file from there and check.