There is actually a lot of ways to accomplish this. Your available tools will dictate your approach. Beside, lots of freewares or trial softwares will do the trick. Here is a few pointers:

- First, you should know that a good PDF reader as a way to print your drawing at the "Actual size" insted of fitting (auto-scaling) it to a particular paper size. It is usually a check box in the Print window. This answers part of your question.

- Second, if you don't have a big plotter, a good PDF reader has a way to print in "Poster mode" or "Tile mode" or any variation of this. It means that it will print a mosaic of your drawing on several sheets of paper. You can normally choose to add cut marks and set an overlap to courter you printer margin. Some will even let you choose a scaling factor. There you go!!!

- A variant would be to print to a "PDF printer" and set the scale along the way. This new file can then be print at the "Actual size".

- Another variant would be to import the PDF in a drawing software. You can then freely scale the thing and even modify it at your will.

OK, here is a simple recipie if you start with no tool. Download the free PDF-XChange Viewer (no affiliation, a good recommendation though). Then print your drawing with these settings:

   Page Range:
        Current Page (I suggest to do it one by one)
   Page Scaling:
        Scaling Type: Tile large pages
        Page zoom: 80% (or anything that suits your need)
        Overlap: 0,5 inch (depends on the limitation of your printer)
        Show cut marks on sheets: Checked

As simple as this!