The Epson XP215 printer does not have a setup screen just a panel of control buttons. The way to connect to Wi-Fi is by using the Epson setup software as described in this video from Epson. Hopefully you have a computer to download the required software. After following the video instructions the Epson will connect to the 2.4GHz Wi-Fi network.
The Eero does not support WPS at all. If you can manually connect your printer to your network (see the printer's documentation). Alternatively, I do have a workaround, but it requires temporary use of a different router.
