I have the same problem with a Canon ImageRunner Advanced printer ... when I send the file to print only the images are printed without any text or paragraph.
I believe it is a PostScript problem.
I'm sure it doesn't depend on the printer because if I send the file from a Mac with Catalina or from the iPhone SE everything works fine.
I conclude by saying that on November 20 Canon released the new drivers for the Big Sur printer but nothing has changed.
I hope that Apple will solve the problem very soon.
c3o2it
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