Without access to those things, it would be difficult for Epic to produce new versions of the Unreal Engine, and game developers wouldn't want to use it any more.
So "difficult" would mean that you need to improvise a bit, but they're still able to develop just like any developer. If you want to put your own cocoapod out, you don't need a developer license to do so and if someone else wants to use your cocoapod they just need their own developer account.
-[1]:https://www.macrumors.com/2020/08/17/apple-terminate-epic-de...
Unless Epic is filled with developers that never ever launched their own application not being part of the Epic developer account is an annoyance (and a familiar one for most iOS developers) at most.
You don't need to deploy an SDK the only thing you would deploy are test builds of games that use the updated SDK.
(I'm just speculating here.)
It's not so much about what's technically possible, but about what's legally allowed.