Hi Dong,
You can simply uninstall Azure AD connect from the old server, and then delete it from the Azure AD portal, if you navigate here and click on the "Service Name" - https://portal.azure.com/#view/Microsoft_Azure_ADHybridHealth/AadHealthMenuBlade/~/SyncServicesList
You should see both servers listed, and you can delete the old / decommissioned server.
Let me know if you have any queries or this does not work for any reason and I would be happy to help!
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