The linked article doesn't have any information about how to remove colours from the touchbar swatch. Can you suggest any other ways to remove the colours from the touchbar?
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You have to cancel the NSColorPanelSwatches.plist file in User>Library>Colors.
Unfortunately, it will delete ALL the swatches saved on Touch Bar, both in Illustrator or Photoshop. But there's no alternative. A new file will appear next time you will add a new color on Touch Bar.
Very helpful, thank you @chiaracreative!