For a long time the standard was, contact your S1 support and receive a removal tool. I don’t know if this always works, but it did for one corrupt agent:
SentinelOneInstaller_windows_64bit_v22_2_4_558.exe --clean_only --dont_preserve_config_dir --dont_preserve_agent_uid -t xyzpdqxyzpdq
where xyzpdqxyzpdq is the site token (much longer of course). Not entirely sure the -t xyzpdqxyzpdq is needed.