That sound is coming from the chasis drive mechanism. It is not worth fixing. The Epson tech is right.
We once gave some broken printers to our local school so that the students in the science department could experiment with “servos” and small motors. At the science fair, one student had dismantled an Epson printer and used the servos and motors as well as other bits and pieces to convert it into a crane and was able to lift small objects.