I would probably say epoxy is the best option, and the one I would do. Problem with tile, especially in the Denver area, is that the concrete garage floors tend to move around and settle/heave, which will break tiles.
I'm sure there are methods out there to strip the old paint off of concrete, probably pretty noxious, but a respirator will take care of that. Definitely can add silica/sand to the epoxy during placement to give it some roughness so it isn't so slick.
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