Depends on your printer I suppose, but I print to large format inkjet printer all the time (Canon IPF 8100). Those printers that use RIPs (raster image processors) require hi-res TIF files for printing which is easy enough to create, though is raster now and nolonger a vector file. I use to have a printer that required at least a software RIP. Now a days, however, I print to my Canon directly straight from Xara. This is no problem for me. I'm sure an Epson color printer could handle it as well, since the Epson and Canon printers serve the same specific market.

Yes, you can print directly from Xara, but it depends on the printer and what it supports. I run a professional graphic design shop - signs and more, and never need to make a PDF file to print in-house. I do create printer marks PDFs when I need to outsource, not so for jobs done in shop.