Hi,
The Epson XP-215 is mentioned in About AirPrint - Apple Support as a model supporting the driverless AirPrint technology. This means that the printer can be used without drivers when connected to a network, If so, make sure that the printer and the computer are connected to the same network.
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support
If necessary, try the following procedure: Power off the router, the printer, the computer, and all other connected devices/computers. Wait two to three minutes. Power on the router. Wait two to three minutes. Power on the
Epson printer. Wait a minute or two. Power on the computer. Finally, power on all other devices/computers. Any change?
Drivers/software from the printer manufacturer may or may not add functionality. In case of a direct USB connection, drivers will be needed.
https://www.epson.eu/support?productID=12299&language=en&os=38#drivers_and_manuals