I have also been unable to connect my iPhone or iPad to my Epson 2550 printer. Very annoying. But I found a fix! From the ap store own load Epson iPrint. After answering the standard questions, it will say no printer found. Click on the message. A select printer page will open. Click on manual IP. Enter your printer IP address. Mine is 10.0.0.20. If you have an Epson printer your may be the same. Otherwise you probably have to use you printer to find it. I found mine on the printer in setup mode. Go to network settings and print the status sheet. Go down all those meaningless descriptions until you see IP ADDRESS
I have done this on both my wife’s and my iPhone and iPads and they all are working as they did a year or so ago before recent Apple update.
it is not as complicated as it sounds
good Luck