At this point, it would be difficult for the United States to withdraw from South Korea. The North Korean nuclear threat fixes the situation in place, even for troops that aren't relevant to that threat. The troops could be withdrawn, but they won't be because the inertia of the situation makes it easier to leave them there than withdraw. As for the South Koreans, they simultaneously dislike the American presence and want it there, since it ensures U.S. military involvement in any crisis.
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