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for the Rancher agent you can run

rancher-system-agent-uninstall.sh

on the node you want to remove. Also there are scripts depending which kind of cluster you are installing. I know for RKE2 there are:

rke2-killall.sh
rke2-uninstall.sh

After that is everything on the node stopped and removed. Then just remove the node from the Rancher GUI.

I was looking at more of a back-end setting that makes rancher terminate a node automatically if it takes too long to register. (Times out)

i dont know, it did that on its own after 5 minutes for me