My understanding is that the hub normally cleans these up during its overnight maintenance cycle. However, if that fails, there currently isn't a "native" option to do so if you have the current generation (C-5) of hub. What you can do is join a secondary controller to your network (the Aeon Z-Stick, Nortek/Linear HUSBZB-1, HomeSeer SmartStick+ G2, Zooz ZST10 are all ones I've tried that I know work; I think the zwave.me stick is one I've also heard of working, and I'm sure there are several others). If you're using a C-4 or even a C-3, which don't have internal Z-Wave radios, then you're already good here and can use the stick (actually your primary controller) for this purpose.
In any case, once you have a stick on your Hubitat Z-Wave network, you can plug it into a PC and use the Z-Wave PC Controller software (download available somewhere on SiLab's site, free account required last time I tried). If you need to join an external stick to your hub, this is also one option you can use to do that, too (I've used "Network Wide Inclusion" or "NWI Learn Mode" in the software to do this while Hubitat is in Z-Wave discovery mode).
Then compare the node list in that software (on the left side--after you get your stick recognized by the software) with the node list from Hubitat, accessible from Settings > Z-Wave Details. Make sure you are using the decimal (base 10, as humans are used to) node IDs from Hubitat rather than the hexadecimal (0-9 and A-F) representations to match.
To actually remove the node, what I've done is select the node on the left, choose "Mark Failed," then do "Remove Failed Node." There may be another or better way that works, but I haven't been able to figure out how to remove a node without marking it as failed first. (I suspect the "Remove" button might let you choose a node ID and do it that way, but...I'm removing it because the device is failed, so I'm assuming it can't be a bad choice. ) I know @aaiyar has had some experience doing this, too*, so I'll tag him here to see if he has anything to add (or correct).
(*I should add that this isn't something I've needed to do on a regular basis, just something I did after I was testing a few different devices and beta testing Hubitat and a had a couple devices never finish pairing. The overnight process might have worked, but I didn't want to wait.)