I'm a lawyer and while I have to give you the caveat that I can't give legal advice on this forum, here's my take.
Typically, a quit claim deed (or general warranty deed) will remove someone's name from the title. You can do that anytime and just contact a real estate atty to get it done. It's not generally expensive.
To remove someone from the mortgage, you need to refinance or assume the mortgage. WH is in the process of assuming the mortgage for our primary residence. I will be looking into refinancing our two rental properties. However, we have already signed the deeds to transfer actual ownership to the person that is keeping the properties.
We have a great rate on our primary residence which is why WH is looking to assume the mortgage instead of refinance. I would look into that. It's not usually that difficult as long as your income and credit are good enough to qualify (which you would need anyway to refi).
Message me if you want to chat more about it.