Disengage
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wiktionary
From Middle French désengager ; dis- + engage
etymonline
disengage (v.)
c. 1600 in figurative sense "loosen from that which entangles;" 1660s in literal sense of "detach, release from connection," from dis- "do the opposite of" + engage (q.v.). Intransitive sense of "withdraw, become separated" is from 1640s. Related: Disengaged; disengaging.