Prep is paramount. Vapor is the killer, though. There's a good epoxy floor write-up on Griot's website with a quick test to see if you can even use epoxy on your floor.
If/when I build my shop, the slab will be insulated and have a vapor barrier, so epoxy will be done. However, my garage and the g/f's garage both have through-slab vapor problems that would kill epoxy.
My g/f is just planning to eventually clean the floor and use a penetrating system POR15 sells and accept it if it fails in places.
My garage will get a raised PT wood insulated floor so my scissor-lift with be closer to flush vs. cutting the slab and recessing the lift. Unfortunately, too many other projects to do before that one.