the episcopal form of government has limited proofs from scripture but it doesn't matter to Anglicans/Orthodox/Roman Catholicism, because the early church didn't believe in sola scriptura.
To me, episcopal means hierarchy. And our Apostle Paul was over Timothy and Titus, directing them how to ordain bishops to "take care of the church of God" (please see 1 Timothy 3:1-10). I do understand, though, that bishop means overseer and an elder is shepherd of the flock, as Peter gives in 1 Peter 5. So, the two terms mean a pastor > who oversees and is an elder > a mature senior who is leading by example > 1 Peter 5:3.
So, Paul was more like a cardinal, Timothy like a bishop, and elders were the pastors.
Of course, ones do not agree with this.
Another offering I have > whether there is sola scriptura or not, still Isaiah 55:11 guarantees that God's word "shall accomplish what I please". This, to me, means God will have His word do all which pleases God Himself, and therefore it will do exactly all which God Himself means by His word, not limited to how arguing scholars are limited in understanding Him.
So, we can rest in this. We can trust You, O God, to do all You mean to bring up and mature men who are qualified leaders by example > 1 Timothy 3:1-10, 1 Peter 5:3. And Your word does not require that they have a public church hierarchy reputation < this is not one of the qualifications of 1 Timothy 3:1-10.
Even if the Bible does mean there is hierarchy, this does not necessarily mean that a particular group's way of hierarchy is what God means.