Today I was looking for this very solution and I tried PDFtoPrinter which I had an issue with (the PDFs I tried printing suggested they used incorrect paper size which hung the print job and nothing else printed until resolved). In my effort to find an alternative, I remembered GhostScript and utilities associated with it. I found GSView and it's associated program GSPrint (reference https://www.ghostscript.com/). Both these require GhostScript (https://www.ghostscript.com/) but when all the components are installed, GSPrint worked flawlessly and I was able to create a scheduled task that printed PDFs automatically overnight.