thanks for the explanation, i can understand and agree with what you said
xc seo is intended right now to be the free alternative to DSEFU, as CDSEO definitely does give better control over url generation
pretty much, the easiest way to disable xc seo is to uncheck the module so that it's disabled, remove the custom htaccess rules, and find a way to redirect your dynamic urls to whatever location you want them to be located at now (as you can lose some page rank if you don't have 301 redirects to the "new" page locations)
you don't *need* to remove xc seo SQL and code modifications, as it won't interfere anymore with your urls
if you want it completely gone, you'll essentially need to step backwards through the install documentation that you used. assuming you used the xc seo installer, you'll need to run that again, and I believe you should have the option to uninstall (might just be reinstall though, i don't remember for certain). if it doesn't provide the option to uninstall, then you'll need to use the xc seo SQL files that were provided to remove XC SEO's changes
then you'll need to step through the code modifications to put your original code back in place
but again, all of that can be avoided by just disabling xc seo via admin and removing the rewrite rules from .htaccess