if you are going to re-deploy then really you want the a clean device (many reasons) ..  so wipe (updating to latest OS at the same time) then ABM - ADE deploy etc..

Yes depending on how they were enrolled and their state you could re-enrol via terminal, but that would be 'a bad idea' 

Your only option is to reinstall macOS. It is possible to remove the MDM profile with SIP disabled, but you will spend far more time doing this on each device then you would just reinstalling macOS. That and messing with macOS configuration profiles in this manner can break profiles in general preventing reenrollment in MDM without a reimage anyway.

@rkelegha1 I'm a fan of nuke and re-enroll for any device (and that's a requirement for my org where the use case is one user per Mac). For Apple Silicon Macs that's amazingly easy using Apple Configurator 2 to do a DFU Restore (see https://mrmacintosh.com/restore-macos-firmware-on-an-apple-silicon-mac-boot-to-dfu-mode/ for a guide). For x86 Macs you can use Apple's rarely mentioned Mac Provisioner tool to boot into Recovery mode and do a clean install of macOS (see https://community.jamf.com/t5/jamf-pro/mac-provisioner/m-p/291848/highlight/true#M259743 for a link to the most recent release)

Cheers all..

Rk