You can print from LR but it doesn't present the same tools. And you're "stuck" using the OEM print driver. IP totally replaces the OEM print driver. Most Epson users are working with it so they have a different dither, ink deliery, ability to print B&W without yellow ink etc.
If you don't care about that and are only looking at IP for building templates, and such, it's possible these features will show up in LR. But LR is primary a RAW converter with tools for ingestion and such; IP has no such capabilities (it can't do a thing with a RAW file). Really apples and oranges.