I used to make full size templates for developments in sheet metal. We had so many incidents of plotting at not quite the right scale and having to throw away the result, that I got in the habit of putting a dimension somewhere on every plot development, and appending to the dimension a space for date and initials, and insisting that everyone actually verify that the plotted dimension line actually corresponded to the dimension before cutting out the template.
... and that was using a real rollfed plotter, driven directly by AutoCAD, and storing the template as a .dwg or .dxf file.
Now, about Acrobat. PDF files were intended to be a format where the author, only, determined how the image appeared. For reasons of their own, Adobe seemed to think that automatic scaling to the presentation page was a desirable thing. ... which makes .pdf files pretty much useless for engineering.
... none of which helps with your problem.
If you know which plotter is in use at your local Staples, maybe you can use AutoCAD to write a .plt file appropriate to that plotter to a thumbdrive, and copy that to the plotter at the store. It will probably take a few trips to get it right; sorry.
Mike Halloran
Pembroke Pines, FL, USA