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Create a time based password for the HIPS Client UI using McAfee ePO.
Logon to the Computer you want to remove HIPS from.
Login to the HIPS Client UI enter the password and disable HIPS IPS and Firewall. (Double check and make sure it says disabled, McAfee Agent can sometimes download new policies and re-enable HIPS in the background )
Proceed to control panel -> add remove programs and remove HIPS.