Modern Network Epson printers should support AirPrint i think what should also work for Cups driverless setup.
They do plan to yes, but current state is that you can use drivers (only to not confuse)
I would omit to use driver package installation of all costs if your printer does not need it, most modern network printers should already support driverless setup.
Most infos are collected here:
https://discovery.endeavouros.com/network/printers
In case you have selected Cups support in the installer, you would only need to enable cups-browsed:
sudo systemctl enable --now cups-brosed and open your firewall to allow mdns (switch to home per example) info about that also in the wiki.
Depending on the used Desktop and your needs there are some options.