"almost all printers new and old on all oses tend to support both" No, many printer do not support either one. There are many different PDL's and different implementations of the same PDL. Emulated PostScript for example or esc-p or IPDS.
For printers that do use the languages you want, the printers with PostScript tend to cost more as they have to pay big license fees (hence the emulated PS).
Even printers of the same manufacturer have different codes for media selection or finishing options.
That being said, printing ASCII or basic PCL to a PCL printer, or basic PS to a PS printer from UNIX doesn't require any changes on the UNIX box. Anything a little fancier would require a change in the printer interface script (lpsystem) or the printcap (bsd). Of course there are many other print subsystems these days, each requiring their own tweaks.
I hope this helps, if not please add detail to your question.
A good source of PS know-how is Adobe's PostScript "Blue Book", so called for its blue cover, which is their tutorial. AFAIK, it never got updated from Level1, but it's still a good way to learn how PS works.
The URL I have for it doesn't work anymore, so you should dig around at the Adobe Partners site at partners.adobe.com and see if you can find it.
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