Kyocera does have what you call `self-contained drivers', at least for OS X computers. Since essentially all Kyocera printers are Postscript printers, you should be able to print via PPD. Even if you don't have OS X, all you need to do is extract the correct PPD file and go on from there.
However, it sounds as if the problem here is networking, not really a strong point of OS 9.