How to get Epson ESCPR printers working on LPR or LPRNG?

I'm trying to have a more minimal system, so I want to set up a ESCPR printer on LPR/LPRNG and not on CUPS.

I have gotten it work on CUPS but I would rather have it on LPR/LPRNG since that's more minimal.

My printer model is a EPSON WF-7620 Series and my Linux distro is Devuan 4 Chimaera (x64 in case that matters.)

By the time you add everything you'll need to get it working, it won't be that much smaller than cups, and probably won't work nearly as well.

You want use a modern multi-function printer in combination with a x86_64 computer running a current Linux distro. You shoud use CUPS in this case.
LPR is the right choice for an ancient printer (e.g. dot matrix printer, early laser printer, early inkjet printer) in combination with an ancient ia32 computer (e.g. 80386, 80486, Pentium/K5/6x68, …) running an ancient Linux distro.

I really don't see the purpose. If you were on a tiny sdcard or emmc you would have mentioned it, and the minimum size of hard disk you can buy fits loads of linux on it. I used to be a bit like that myself. Then I realised I was only putting work on myself.