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I don't think it's ever been possible to schedule a task to uninstall the agent, although I could be wrong
However if you delete a machine from the system tree, you will be presented with a confirmation window that give you the option to uninstall the agent. If you select this then the next time that machine contacts the ePO server it is sent a special command telling it to uninstall itself.
If you are using AD syncronisation, you can specify that the agent is removed when the device is deleted via a Sync Automated Task?