Can I restore a devise to my iPhone after I removed it from my iCloud

If its been correctly removed from your iCloud account, then restoring to factory condition should remove that notice and allow the new user to set it up.

Link-> Remove a device from Find My iPhone on iCloud.com - Apple Support

If its been removed from your iCloud account, then there's nothing else you can do without having it in hand.

The new owner should restore it to factory condition with iTunes / Finder: link-> Restore your iPhone, iPad, or iPod to factory settings - Apple Support

Transhrt21 wrote:

I believe I forgot to erase iPhone from iCloud before I removed the iPhone (XR). How can I unlock Activation lock

You not erasing the device before removing it from your account should not be an issue.

As I said, have the new owner restore it to factory settings. Once that is done, as long as it was correctly removed from your account, it will be unlocked and Activation Lock should no longer be an issue.

See here: Restore your iPhone, iPad, or iPod to factory settings - Apple Support

He follows the steps in the support document I have provided twice now in my previous responses. Click here-> Restore your iPhone, iPad, or iPod to factory settings - Apple Support

He will need to connect the iPhone to a computer, Mac or PC.