To manually remove the regular auditing agent
1 - Stop the agent service on the machine.
2 - From a command prompt run
"C:\Windows\SLAgent\slagentsvc.exe -uninstall" then delete the C:\Windows\SLAgent folder, if AA is still installed you will need to manually remove the agent from the agent list in the console.
To manually remove the AD health agent
1- Open a command prompt on the DC where it is installed and run "C:\Windows\DAAgent\setup.exe -u"
which should perform all of the steps required including removing any firewall rules and unregistering the agent. If for some reason any of those steps fail you can also stop the service and manually delete the DAAgent folder, in that scenario you would also need to go into the AA console if AA is still installed and remove the agent from the agent list.
Alternatively, and in case the health agent is not present in the agent list - from the "More" pulldown option choose "Remove orphaned agents" and that will attempt to perform a remote uninstall of an agent on any specified machine:
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