Hi @wordpress1209, the easiest way to do this is to install and activate All in One SEO and then go to All in One SEO > General Settings > Advanced and enable the Uninstall AIOSEO toggle. Then go to Plugins and deactivate and delete All in One SEO and that should clean up the database.
Alternatively, if you have access to your SQL database then you can delete the tables that start with aioseo_ such as aioseo_posts, aioseo_notifications, etc. Then go to wp_options and search for any options with an option_name that starts with aioseo and delete them. I’d strongly recommend taking a backup of your database before making any changes there.