Yes, dark matter is the best way we currently have for fitting the data within most of our existing frameworks for understanding the universe. I really don't see the relation to epicycles.
There are people out there working very hard on modified gravity theories. I'm not aware of any that are able to explain the current data. If anything, trying to modify gravity to fit the dark matter data would be most similar to epicycles, it's devilishly difficult to come up with increasingly complex theories that fit more and more data that's coming in.