Q: does it need to be an apple device

You would need to check the Samsung site to determine the capabilities of their model of tablets. You don't have an iPad.

No, it does not have to be an Apple device (especially since Apple doesn't make printers), but it does have to be AirPrint capable. yours doesn't appear to be: About AirPrint - Apple Support

Secondly, exactly what type of device are you using. Samsung doesn't make iPads.

Samsung does not make iPads. Only Apple makes them.

You need to discuss your problem with both Epson and Samsung.

These forums can't help you since you don't have anything from apple.

You do not have a Samsung iPad. You have a Samsung tablet. There is a big difference. Contact Samsung to find out the requirements for printing from their devices.