How to reset/remove apple developer team maximum devices without Apple Developer Membership

As per this documentation,

If you are the Team Agent for your Apple Developer Program team, you can reset your list of development devices each year using Certificates, Identifiers & Profiles. You can register up to 100 of each device type for testing and Ad Hoc distribution per membership year. At the start of your new membership year, you and any Admins on your team will be presented with the option to remove listed devices and restore the available device count to 100 when you first sign in to Certificates, Identifiers & Profiles.

Although you may remove a device from your account during the year, it will continue to count against your device limit. When resetting your list, make sure to remove all devices you no longer use for development before adding any new devices.

So basically you can only reset it once every year after renewing your membership. You can reset the list by logging in apple developer website with your developer account, Select Certificates, IDs & Profiles from the left navigation tab, then select Devices tab and select Get Started in Reset your device list before adding any new devices.

Adding to @TheMachSystem answer, you will be able to remove devices ONLY on the Device Reset Date specified on your Apple Developer Membership dashboard. If you renew your membership before that date you will need to wait until that date.