hello Bryan,
since all your devices are in same subnet, you can try setting a static DHCP IP or Static IP for the printer.
My printer (wifi connected) IP had 100ms+ latency when pinged from mikrotik itself but later when I changed to LAN connection, the latency fell to 1ms. You can try putting a cable connection with the printer.
Lastly use the epson software to re-setup the printer. during setup select wired connection (even if the printer is wireless connected) and then set as new device NOT EXISTING DEVICE.
Regards,
Abraham