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If you are willing to give away unencrypted versions of the ePub, then just drag and drop onto the device when it's connected to the computer.
If not, you'll have to authorize the device in SOME way, i.e. either associate it with a Kobo account and download the Kobo book or authorize with an Adobe account to load the encrypted ePub.
At least those are the ways I can think of.
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