When removing a device from my apple account (ex. my kid's ipad) are they still linked to my account but have no access to my apple id?

You can get them out of your account by either changing your Apple ID email address and password or just change the password, then create a new Apple ID for them if desired. If you create a new ID, you should change your password.

Note the restrictions in the article.

Apple ID Name Change.  * 

 What to do after you change your Apple ID or password - Apple Support  *  I suggest doing this before you change your Apple ID or password.

 Apple ID Password Change.   -   

 What to do after you change your Apple ID or password - Apple Support  -   I suggest doing this before you change your Apple ID or password.

or

If under 13 years old.

Family Sharing and Apple ID for your child.   *

Family Sharing.   *

Family Sharing - Set up.  *

If 13 or older.

Apple ID - create a new.      *

Apple ID – Create   -

Apple ID - Could Not Create or Could Not Set Up iCloud message.    *