One option would be to request the XDR Cleaner Tool from support and use:
REM to disable agent protect and remove agent with XDRAgentcleaner
echo Password123|"%ProgramFiles%\Palo Alto Networks\Traps\cytool.exe" protect disable
REM use xdrcleaner note the password is in clear txt
xdragentcleaner.exe --silient --password Password123 --log c:\remove.log
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