Removing legacy system extensions that are no longer needed?

If I have a legacy system extension from some software I no longer need or want, can I just remove it?

And what is the best method to do so (using system options if possible, terminal, etc.)?

In my case I continue to get this alert in reference to a Wacom tablet that I haven't used in years.

I thought I removed all the of it a long time ago.

Do I just search for Wacom?

And How do I handle the alert the is non-specific?

As in:

Existing software on your system loaded a system extension signed by “Legacy Developer: Unidentified” which will be incompatible with a future version of macOS. Contact the developer for support.

Thanks