Did you Reset the printing system after installing the current Epson package for your device? If you didn't it won't see what you updated, and continue to use the previous drivers.
Turn on your printer. In System Preferences : Printers & Scanners, control-click/two-finger tap on your device in the Printers listing. On the secondary menu, select Reset printing system… . You will be prompted for your administrator password, the Printers list will be empty and a new panel will appear with hopefully your XP-6100 detected by Apple's Bonjour service. Click the entry, and another panel will appear with a Use: selector. Here you can select your XP-6100 again, or even Apple's AirPrint, since your device is supported by it if networked, and then click Add. On the new XP-6100 entry in Printers, set the Default printer, and print something.
The advantage of Apple's AirPrint is that you do not need Epson's print drivers to use the device on Catalina. At some point, when Epson no longer provides you with scanner software compatible with a future release of macOS, the paid, non-subscription, 64-bit VueScan supports your scanner without the need for Epson software or drivers installed.