diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index 4346450113..e427eaf3df 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -704,20 +704,6 @@ void init(void)
     cameraControlInit();
 #endif
 
-// XXX These kind of code should goto target/config.c?
-// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
-#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
-    if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
-    }
-#endif
-
-#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
-    if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
-    }
-#endif
-
 #ifdef USE_ADC
     adcInit(adcConfig());
 #endif
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index a3ccac9f44..dde36b3d1f 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -104,42 +104,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
-        case RANGEFINDER_SRF10:
-#ifdef USE_RANGEFINDER_SRF10
-            if (srf10Detect(dev)) {
-                rangefinderHardware = RANGEFINDER_SRF10;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_SRF10_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
-            case RANGEFINDER_HCSR04I2C:
-#ifdef USE_RANGEFINDER_HCSR04_I2C
-            if (hcsr04i2c0Detect(dev)) {
-                rangefinderHardware = RANGEFINDER_HCSR04I2C;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_i2C_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
-            case RANGEFINDER_VL53L0X:
-#if defined(USE_RANGEFINDER_VL53L0X)
-            if (vl53l0xDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_VL53L0X;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VL53L0X_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
-        case RANGEFINDER_UIB:
-#if defined(USE_RANGEFINDER_UIB)
-            if (uibRangefinderDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_UIB;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_UIB_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_TFMINI:
 #if defined(USE_RANGEFINDER_TF)
             if (lidarTFminiDetect(dev)) {
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index a525edca4f..cf3d49739d 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -31,11 +31,6 @@ typedef enum {
     RANGEFINDER_HCSR04      = 1,
     RANGEFINDER_TFMINI      = 2,
     RANGEFINDER_TF02        = 3,
-    // Following sensors are to be ported from iNav
-    RANGEFINDER_SRF10       = 4,
-    RANGEFINDER_HCSR04I2C   = 5,
-    RANGEFINDER_VL53L0X     = 6,
-    RANGEFINDER_UIB         = 7,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index b3cd2437fd..def37862a0 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -148,8 +148,6 @@
 
 #define SOFTSERIAL2_RX_PIN      PB0 // PWM 7
 #define SOFTSERIAL2_TX_PIN      PB1 // PWM 8
-
-#define RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE
 #endif
 
 #define USE_ESCSERIAL
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 576a569449..28490e0624 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -121,8 +121,6 @@
 #define SOFTSERIAL1_TX_PIN      PA1 // PA1 / PAD4
 #endif
 
-#define RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE
-
 #define USE_SPI
 
 #ifdef TINYBEEF3
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index 6c768810f9..412f4dc5b4 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -75,7 +75,6 @@
 
 #define SOFTSERIAL1_RX_PIN      PB0  // PWM 5
 #define SOFTSERIAL1_TX_PIN      PB1  // PWM 6
-#define RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1