To remove all pins, tap the map's More icon (on Mac, the File menu), then "Clear/New". You can choose to remove the route and/or all the non-route pins.
Or, to remove several pins, tap the map's Draw icon, draw with your finger around the pins to remove, then under the 3-dots icon at the top-right, tap "Remove from Map" (or "Remove Non-Route Pins", available with version 8.2, released 06/20/2023).
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