No Longer Can Update My Epson Printer

From the message I am gathering that Epson has arranged for driver updates to be included as part of macOS system software updates by Apple. You only get those for the past two versions of macOS, so your Catalina Mac is not getting any anymore. You'll have to be content with the driver you are using now until you can upgrade macOS which, depending upon your model Mac, may require the purchase of a newer computer.

Typically I have only found I need a newer driver when I have indeed upgraded macOS so far that something has radically changed that hte Mac cannot run the old one, not because a driver has improved much.

Might look for a Cups driver...

https://www.openprinting.org/driver/epson-escpr/

And another obvious question, is the old driver having problems, or is the desire to update just because a newer version is out there? I have a very non-Apple attitude towards this kind of thing and don't feel I have to update just because a newer version is released. In fact I read about some updates and the tweaks are just there because some newer OS version is having problems, not because the old one is having problems with the old system which I am still using. If it ain't broke, don't fix it.

At the risk of asking an obvious question, which particular Epson printer do you have?

Yes, because according to the message that started with OSX 10.6 "and later" and you are running 10.15 which is 9 versions "later". You are definitely in the later category which means if you have updated Catalina as far as it will go then you have also updated the printer drivers as far as they will go until you install a newer macOS. To me it sounds like Epson hasn't released a direct-to-customer driver upgrade in 18 years or so.