For Airprint printers, it’s usually possible to avoid loading any drivers for printing. This is an AirPrint printer.
If you want to load drivers for other purposes, load the latest drivers directly from the printer vendor.
https://epson.com/Support/Printers/All-In-Ones/XP-Series/Epson-XP-830/s/SPT_C11CE78201?review-filter=macOS+10.12.x
Also see the security notice(s) for this printer: https://epson.com/Support/wa00826
Failing that, remove the printer, reboot, and re-add the printer, and try again.
If that fails, boot into Safe Mode and try printing again, as that disables various add-ons. Some add-ons can cause flakiness.
There’s a printer subsystem reset operation, but that’s a yet bigger hammer.
If all that fails, check directly with the vendor support folks.
Sierra is no longer supported by various apps, and no longer getting security updates from Apple.
Of the various printer vendors for potential replacement, Brother is the local preference.