The doctor in this show concluded that suicide was what most likely happened in the case of Epstein, based on the fact that there was an altercation where he had tried to commit suicide earlier, saying that if he wasn't trying to commit suicide that there would've been evidence of a struggle in the pictures taken, and discrediting that theory that was presented on 60 minutes (the idea that he was strangled by a wire).
He did say however that there was one thing that got missed by the people in prison, the fact that he had written a last will 2 days before his death. He said that its a little unbelievable that the prison missed that he wrote that, given that he had been on suicide watch.
Also got to find out mostly about the side of how he was not a great person at all.