Given the mechanical supports you describe, there should be no epoxy. But it will be caulked.
Figure out how to remove the clamps and the wood blocks. Then use a stiff putty knife in the joint to break the caulk joint. Do all this with your two hands, while holding up the sink with the other two.
Plan on putting the new sink in the same way.
I have seen some "experiments" with installing undermount sinks with epoxy only, and I consider it not reliable.