How to safely delete a folder in `/Library/StagedExtensions/Library/Application Support/` on macOS Catalina

Question

The OS: macOS Catalina

Problem: I want to delete a folder under

/Library/StagedExtensions/Library/Application Support/

The full path is

/Library/StagedExtensions/Library/Application Support/org.pqrs/

I've searched this topic, and found its related to mac's SIP.

And another SO topic said using kextcache to clear all StagedExtensions. However I haven't found any articles directly related to the /Library/StagedExtensions/Library/Application Support/ folder.

I'm wondering is there a safe way, i.e. without disable SIP, to delete the target folder?

Many thanks