What's a word for "to eliminate the need for"? [duplicate]

Obviate: to bypass a requirement or make it unnecessary.

If the sentence can be reworded slightly, you could say,

If you let me look in your garage we can dispense with the warrant.

Dispense:

[with object] (dispense with) manage without or get rid of:
let’s dispense with the formalities, shall we?

give special exemption from (a law or rule):
the Secretary of State was empowered to dispense with the nationality requirement in individual cases

Preclude: ‘To prevent (an action, event, situation) from taking place, esp. in advance; to remove the possibility of (an event, etc.) occurring, to make impossible; to rule out.’