There are connecting rooms throughout the resort, but it will depend on whether 2 rooms that match your criteria will be available on your check in day.
However, you've mentioned several requests - connecting rooms, queen beds in both rooms, upper floor, view of Epcot - so you'll need to prioritize them and choose the most important one or two. If you list too many requests the room assigners might assign rooms that fulfill most of your requests, but not your most important.
Also, if you check in early in the day, but are willing to wait until late afternoon to get into your rooms you'll have a better chance.