Remove Server 2012 Remote Access Server

My IT director was walking me through setting up a Server 2012 VPN/RA server. We did not do this in our test environment, and now I would like to remove it.

I know that when installing this server it makes domain changes such as creating group policies etc, and I want to make sure when I remove it I do it properly.

The only documentation I can find from Microsoft, is regarding the Uninstall-RemoteAccess powershell command.

Will running this correctly remove the role, and undo any changes made to the domain and group policies?

Can't say that I know for certain, but after reading the documentation on the Uninstall-RemoteAccess cmdlet I feel pretty certain saying that it doesn't remove every change made to the system. It says, among other things, the following, which I feel is the answer to your question:

The Unistall-RemoteAccess cmdlet uninstalls DirectAccess (DA) and VPN, both Remote Access (RA) VPN >and site-to-site VPN.

[...]

This cmdlet will not handle removal of RA role and other dependent roles.

Since it explicitly states that it doesn't even remove the RA role, I feel pretty certain to say that it doesn't undo all changes. I can't comment on the specifics of group policy changes, but as a pure guess I would say that it doesn't undo such things.