Yes you can uninstall SEP on all the XP computers remotely using the SEPprep utility.
SEPprep competitive product uninstall tool
http://www.symantec.com/docs/TECH148513
Demo: How to use the Symantec Endpoint Protection Prep Tool
https://www-secure.symantec.com/connect/videos/demo-how-use-symantec-endpoint-protection-prep-tool
Note: You need to configure in such a way that it remove SEP 12.1. Manuall configuration is must. Its a No Support tool from symantec. you need to try at you own risk.