Get the print queuing out of the way.
The default S4M is a USB and serial printer, which implies there's a NIC or terminal server in the way.
Probably get that out of the way, too.
You might try a spooled device here, but - for this hyper-caffeinated customer requirement - I'd likely just send the file directly to the device; to go print to the device "the old fashioned way. I'd probably go hard-wire to the device, too, and get the network out of the path.
Even better, I'd replace all this cruft with something that printed INSTANTLY. Or SOONER. Build whatever it is that you need into the printer, and connect there from the host. (If you work it right, you might be able to start printing before you have your data back from the host.) Or send the customer a case of decaf.
Your call...