diff --git a/manifests/gcp_marketplace/chart/kubeflow-pipelines/templates/argo.yaml b/manifests/gcp_marketplace/chart/kubeflow-pipelines/templates/argo.yaml
index f15d333f78e..601d47a443c 100644
--- a/manifests/gcp_marketplace/chart/kubeflow-pipelines/templates/argo.yaml
+++ b/manifests/gcp_marketplace/chart/kubeflow-pipelines/templates/argo.yaml
@@ -833,7 +833,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
   # Choice of an executor is deprecated in favor of emissary executor
-  containerRuntimeExecutor: emissary
   executor: |
     imagePullPolicy: IfNotPresent
     resources:
diff --git a/manifests/gcp_marketplace/test/snapshot-base.yaml b/manifests/gcp_marketplace/test/snapshot-base.yaml
index 5351374d93c..eee7aeecd1a 100644
--- a/manifests/gcp_marketplace/test/snapshot-base.yaml
+++ b/manifests/gcp_marketplace/test/snapshot-base.yaml
@@ -152,7 +152,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
   # Choice of an executor is deprecated in favor of emissary executor
-  containerRuntimeExecutor: emissary
   executor: |
     imagePullPolicy: IfNotPresent
     resources:
diff --git a/manifests/gcp_marketplace/test/snapshot-emissary.yaml b/manifests/gcp_marketplace/test/snapshot-emissary.yaml
index 5351374d93c..eee7aeecd1a 100644
--- a/manifests/gcp_marketplace/test/snapshot-emissary.yaml
+++ b/manifests/gcp_marketplace/test/snapshot-emissary.yaml
@@ -152,7 +152,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
   # Choice of an executor is deprecated in favor of emissary executor
-  containerRuntimeExecutor: emissary
   executor: |
     imagePullPolicy: IfNotPresent
     resources:
diff --git a/manifests/gcp_marketplace/test/snapshot-managed-storage-with-db-prefix.yaml b/manifests/gcp_marketplace/test/snapshot-managed-storage-with-db-prefix.yaml
index af66ef47ea4..148818015b5 100644
--- a/manifests/gcp_marketplace/test/snapshot-managed-storage-with-db-prefix.yaml
+++ b/manifests/gcp_marketplace/test/snapshot-managed-storage-with-db-prefix.yaml
@@ -168,7 +168,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
   # Choice of an executor is deprecated in favor of emissary executor
-  containerRuntimeExecutor: emissary
   executor: |
     imagePullPolicy: IfNotPresent
     resources:
diff --git a/manifests/gcp_marketplace/test/snapshot-managed-storage.yaml b/manifests/gcp_marketplace/test/snapshot-managed-storage.yaml
index a164c3b26ea..1856914dfff 100644
--- a/manifests/gcp_marketplace/test/snapshot-managed-storage.yaml
+++ b/manifests/gcp_marketplace/test/snapshot-managed-storage.yaml
@@ -168,7 +168,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
   # Choice of an executor is deprecated in favor of emissary executor
-  containerRuntimeExecutor: emissary
   executor: |
     imagePullPolicy: IfNotPresent
     resources:
diff --git a/manifests/kustomize/README.md b/manifests/kustomize/README.md
index c7e44660aa4..06cb42912e6 100644
--- a/manifests/kustomize/README.md
+++ b/manifests/kustomize/README.md
@@ -27,15 +27,6 @@ kubectl port-forward -n kubeflow svc/ml-pipeline-ui 8080:80
 
 Now you can access Kubeflow Pipelines UI in your browser by <http://localhost:8080>.
 
-Customize:
-
-There are two variations for platform-agnostic that uses different [argo workflow executors](https://argoproj.github.io/argo-workflows/workflow-executors/):
-
-* env/platform-agnostic-emissary
-* env/platform-agnostic-pns
-
-You can install them by changing `KFP_ENV` in above instructions to the variation you want.
-
 Data:
 
 Application data are persisted in in-cluster PersistentVolumeClaim storage.
diff --git a/manifests/kustomize/env/platform-agnostic-emissary/kustomization.yaml b/manifests/kustomize/env/platform-agnostic-emissary/kustomization.yaml
deleted file mode 100644
index b0f866295b9..00000000000
--- a/manifests/kustomize/env/platform-agnostic-emissary/kustomization.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-apiVersion: kustomize.config.k8s.io/v1beta1
-kind: Kustomization
-bases:
-- ../platform-agnostic
-
-patchesStrategicMerge:
-- workflow-controller-configmap-patch.yaml
diff --git a/manifests/kustomize/env/platform-agnostic-emissary/workflow-controller-configmap-patch.yaml b/manifests/kustomize/env/platform-agnostic-emissary/workflow-controller-configmap-patch.yaml
deleted file mode 100644
index 87b8fda3914..00000000000
--- a/manifests/kustomize/env/platform-agnostic-emissary/workflow-controller-configmap-patch.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: workflow-controller-configmap
-data:
-  # References:
-  # * https://github.com/argoproj/argo-workflows/blob/v3.1.5/config/config.go
-  # * https://github.com/argoproj/argo-workflows/blob/v3.1.5/docs/workflow-controller-configmap.md
-  # * https://github.com/argoproj/argo-workflows/blob/v3.1.5/docs/workflow-controller-configmap.yaml
-
-  # Emissary Executor: https://argoproj.github.io/argo-workflows/workflow-executors/#emissary-emissary
-  containerRuntimeExecutor: emissary
diff --git a/manifests/kustomize/env/platform-agnostic-multi-user-emissary/kustomization.yaml b/manifests/kustomize/env/platform-agnostic-multi-user-emissary/kustomization.yaml
deleted file mode 100644
index 42dda7adc03..00000000000
--- a/manifests/kustomize/env/platform-agnostic-multi-user-emissary/kustomization.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-apiVersion: kustomize.config.k8s.io/v1beta1
-kind: Kustomization
-bases:
-- ../platform-agnostic-multi-user
-
-patchesStrategicMerge:
-- workflow-controller-configmap-patch.yaml
diff --git a/manifests/kustomize/env/platform-agnostic-multi-user-emissary/workflow-controller-configmap-patch.yaml b/manifests/kustomize/env/platform-agnostic-multi-user-emissary/workflow-controller-configmap-patch.yaml
deleted file mode 100644
index 80082846b58..00000000000
--- a/manifests/kustomize/env/platform-agnostic-multi-user-emissary/workflow-controller-configmap-patch.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: workflow-controller-configmap
-data:
-  # References:
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/config/config.go
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.md
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
-
-  # Emissary Executor: https://argoproj.github.io/argo-workflows/workflow-executors/#emissary-emissary
-  containerRuntimeExecutor: emissary
diff --git a/manifests/kustomize/env/platform-agnostic-pns/kustomization.yaml b/manifests/kustomize/env/platform-agnostic-pns/kustomization.yaml
deleted file mode 100644
index b0f866295b9..00000000000
--- a/manifests/kustomize/env/platform-agnostic-pns/kustomization.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-apiVersion: kustomize.config.k8s.io/v1beta1
-kind: Kustomization
-bases:
-- ../platform-agnostic
-
-patchesStrategicMerge:
-- workflow-controller-configmap-patch.yaml
diff --git a/manifests/kustomize/env/platform-agnostic-pns/workflow-controller-configmap-patch.yaml b/manifests/kustomize/env/platform-agnostic-pns/workflow-controller-configmap-patch.yaml
deleted file mode 100644
index 83640a77776..00000000000
--- a/manifests/kustomize/env/platform-agnostic-pns/workflow-controller-configmap-patch.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: workflow-controller-configmap
-data:
-  # References:
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/config/config.go
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.md
-  # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
-
-  # pns executor is a more portable default, see https://github.com/kubeflow/pipelines/issues/1654.
-  # However, it is flaky for containers that run really fast, see https://github.com/kubeflow/pipelines/issues/5285.
-  containerRuntimeExecutor: pns
diff --git a/manifests/kustomize/hack/test.sh b/manifests/kustomize/hack/test.sh
index 7e251fbf614..cc99f32df4f 100755
--- a/manifests/kustomize/hack/test.sh
+++ b/manifests/kustomize/hack/test.sh
@@ -34,8 +34,6 @@ kustomization_yamls=(
   "env/dev"
   "env/gcp"
   "env/platform-agnostic"
-  "env/platform-agnostic-pns"
-  "env/platform-agnostic-emissary"
   "env/aws"
   "env/azure"
 )
@@ -48,8 +46,6 @@ done
 kustomization_yamls_v3=(
   "base/installs/multi-user"
   "env/platform-agnostic-multi-user"
-  "env/platform-agnostic-multi-user-pns"
-  "env/platform-agnostic-multi-user-emissary"
 )
 for path in "${kustomization_yamls_v3[@]}"
 do
diff --git a/manifests/kustomize/third-party/argo/base/workflow-controller-configmap-patch.yaml b/manifests/kustomize/third-party/argo/base/workflow-controller-configmap-patch.yaml
index 5b06703f78b..683d20fe335 100644
--- a/manifests/kustomize/third-party/argo/base/workflow-controller-configmap-patch.yaml
+++ b/manifests/kustomize/third-party/argo/base/workflow-controller-configmap-patch.yaml
@@ -8,9 +8,6 @@ data:
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.md
   # * https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
 
-  # emissary executor is a more portable default, see https://github.com/kubeflow/pipelines/issues/1654.
-  containerRuntimeExecutor: emissary
-
   # In artifactRepository.s3.endpoint, $(kfp-namespace) is needed, because in multi-user mode, pipelines may run in other namespaces.
   artifactRepository: |
     archiveLogs: true
diff --git a/test/manifests/dev/kustomization.yaml b/test/manifests/dev/kustomization.yaml
index 0472248f60c..04ad9c68c52 100644
--- a/test/manifests/dev/kustomization.yaml
+++ b/test/manifests/dev/kustomization.yaml
@@ -7,7 +7,6 @@ bases:
 - ../../../manifests/kustomize/env/dev
 patchesStrategicMerge:
 - proxy-agent-patch.yaml
-- workflow-controller-configmap-patch.yaml
 
 # Used by Kustomize.
 configMapGenerator:
diff --git a/test/manifests/dev/workflow-controller-configmap-patch.yaml b/test/manifests/dev/workflow-controller-configmap-patch.yaml
deleted file mode 100644
index 6922f7bf115..00000000000
--- a/test/manifests/dev/workflow-controller-configmap-patch.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: workflow-controller-configmap
-data:
-  # Reference:
-  # https://github.com/argoproj/argo-workflows/blob/v3.4.7/docs/workflow-controller-configmap.yaml
-
-  # https://www.kubeflow.org/docs/components/pipelines/installation/choose-executor/#emissary-executor
-  # we want to primarily test emissary executor
-  containerRuntimeExecutor: emissary