GNU/Linux Ubuntu 20.04 Epson Printer Setup – Step by step Guide
The linked Tutorials Show you Step-by-Step How to Install Printer Epson in Ubuntu 20.04 Focal LTS Desktop – Step by step Tutorial.
And after Installing the Proprietary Epson Printer Ubuntu Focal Driver to achieve the Setup follow instructions to Add Printer.
In Addition for the All-in-one models read how-to Get Started with Epson Scanning on Ubuntu Linux.

Ubuntu 20.04 Install Epson Printer