Low resolution prints when using macOS Sierra
When printing artwork directly from Illustrator running on macOS Sierra (currently using 21.1.0) the prints look pixelated. This does not happen when printing the same file with the same settings on the same printer when Illustrator is running on Windows 10.
I can reproduce the effect with a Canon Pro-10S and a Canon Maxify 5150.
A workaround on macOS is to save the file as a pdf file and print it from Acrobat. Then the quality of the prints is good.
I attached a scanned example of the difference in print quality. The top part of the image shows the Windows 10 print, the lower part shows the same image printed on macOS Sierra.
Please print with enabling "Print as Bitmap" option in Advanced tab of print dialog.