I see this a lot with poor connection related to wifi or switch issues on the network.
I recommend a continuos ping test from different workstations to the printers to isolate the issue.
example... if printer IP is 192.168.1.100... from command prompt, type...
ping 192.168.1.100 -t
( -T switch will ping the printer continuously until Ctrl+C is pressed) Allow this to run for at least 5 minutes from different workstations. This will tell you how reliable the connection is, and help pinpoint the trouble.
Customer is seeing delays of 20 - 30 seconds with a message "Connecting to printer." They are seeing it on both the AltaLink C8100 Series and PrimeLink C9070 devices. They are not seeing the delays on the VersaLink or older WorkCentre 7845 and 5335 devices.
Printing directly to the devices does not have the delay.
I had them try turning off Bi-Directional Communication and SNMP Status in the queue. No change to delay.