Epps is used to mentoring younger soldiers, so it only makes sense that he would be assigned to train Autobot Skids in the ways of war on Earth. Given that both the human soldier and the Autobot warrior share a passion for putting the hurt on Decepticons, it was inevitable they would become friends and battlefield partners.
http://www.tfw2005.com/resources/dotm-human-alliance-autobots-487/autobot-skids-with-elita-1-and-tech-sergeant-epps-5489/

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