Yes, you can but, remember that Muriatic Acid is another name for Hydrochloric Acid (HCl) and can really butcher the concrete to which it's applied. Also it takes quite a bit of scrubbing. Another factor to consider is what kind of paint ... if the stain is old fashioned oil based, the oil has carried the pigment quite deep into porous concrete and can be a real problem to get out.
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It is best if you do remove the old paint first.
My garage floor needs a new coat of paint. What is the best garage floor coating paint?
To remove paint from a galvanized garage door: Prepare Area: Ensure ventilation and lay drop cloths. Apply Paint Stripper: Use a stripper suitable for metal, following product instructions. Scrape Paint: Use a scraper or putty knife to remove softened paint. Clean Residue: Scrub with a wire brush or steel wool. Wash Surface: Clean with water and mild detergent. Rinse and Dry: Rinse thoroughly and dry the door completely.
Best to remove the epoxy first, otherwise you could experience some peeling issues. If you insist on not removing the epoxy, be sure to remove any grease or oil, clean and sand the surface flat so the floor paint has a solid surface to gain a tenacious bond.
Soften it with Goof Off, then scrape it with a wood spatula.