Hope you are doing well and sorry for the trouble. As described, you are unable to print the PDF on Mac OS Big Sur.
What happens when you try to print the PDF file? Do you get any error message? If yes, Please share the screenshot for a better understanding?
Is this a behavior with a particular PDF file or with all the PDFs? Please try to print a different PDF file and check. If the file is located on a shared network drive, please download it to your computer first and then try to open and print with Adobe Acrobat/Reader DC.
Please check for any missing/pending updates for printer driver and firmware and try updating it and see if that makes any difference.
If it still doesn't work , try to remove the printer driver and firmware and reboot the computer once and then reinstall the printer driver and firmware from the printer manufacturers web site.