diff --git a/lib/commands/touch.js b/lib/commands/touch.js
deleted file mode 100644
index 7b7e960e..00000000
--- a/lib/commands/touch.js
+++ /dev/null
@@ -1,509 +0,0 @@
-/* eslint-disable @typescript-eslint/no-unused-vars */
-
-import {util} from '@appium/support';
-import {errors, isErrorType} from 'appium/driver';
-import {asyncmap} from 'asyncbox';
-import B from 'bluebird';
-import _ from 'lodash';
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string?} [elementId=null]
- * @param {number?} [x=null]
- * @param {number?} [y=null]
- * @param {number} [count=1]
- * @returns {Promise<void>}
- */
-export async function tap(elementId = null, x = null, y = null, count = 1) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string} elementId
- * @param {number} x
- * @param {number} y
- * @param {number} duration
- * @returns {Promise<void>}
- */
-export async function touchLongClick(elementId, x, y, duration) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string} elementId
- * @param {number} x
- * @param {number} y
- * @returns {Promise<void>}
- */
-export async function touchDown(elementId, x, y) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string} elementId
- * @param {number} x
- * @param {number} y
- * @returns {Promise<void>}
- */
-export async function touchUp(elementId, x, y) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string} elementId
- * @param {number} x
- * @param {number} y
- * @returns {Promise<void>}
- */
-export async function touchMove(elementId, x, y) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').SwipeOpts} opts
- * @returns {Promise<void>}
- */
-export async function doSwipe(opts) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchDragAction} opts
- * @returns {Promise<void>}
- */
-export async function doTouchDrag(opts) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchActionKind} action
- * @param {import('./types').TouchActionOpts} [opts={}]
- * @returns {Promise<void>}
- */
-export async function doTouchAction(action, opts = {}) {
-  const {element, x, y, count, ms, duration} = opts;
-  // parseTouch precalculates absolute element positions
-  // so there is no need to pass `element` to the affected gestures
-  switch (action) {
-    case 'tap':
-      return await this.tap('', x, y, count);
-    case 'press':
-      return await this.touchDown('', /** @type {number} */ (x), /** @type {number} */ (y));
-    case 'release':
-      return await this.touchUp(
-        String(element),
-        /** @type {number} */ (x),
-        /** @type {number} */ (y),
-      );
-    case 'moveTo':
-      return await this.touchMove('', /** @type {number} */ (x), /** @type {number} */ (y));
-    case 'wait':
-      return await B.delay(/** @type {number} */ (ms));
-    case 'longPress':
-      return await this.touchLongClick(
-        '',
-        /** @type {number} */ (x),
-        /** @type {number} */ (y),
-        duration ?? 1000,
-      );
-    case 'cancel':
-      // TODO: clarify behavior of 'cancel' action and fix this
-      this.log.warn('Cancel action currently has no effect');
-      break;
-    default:
-      this.log.errorAndThrow(`unknown action ${action}`);
-  }
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchAction[]} gestures
- * @returns {Promise<void>}
- */
-export async function performTouch(gestures) {
-  // press-wait-moveTo-release is `swipe`, so use native method
-  if (
-    gestures.length === 4 &&
-    gestures[0].action === 'press' &&
-    gestures[1].action === 'wait' &&
-    gestures[2].action === 'moveTo' &&
-    gestures[3].action === 'release'
-  ) {
-    let swipeOpts = await getSwipeOptions.bind(this)(
-      /** @type {import('./types').SwipeAction} */ (gestures),
-    );
-    return await this.doSwipe(swipeOpts);
-  }
-  let actions = /** @type {(import('./types').TouchActionKind|TouchAction)[]} */ (
-    _.map(gestures, 'action')
-  );
-
-  if (actions[0] === 'longPress' && actions[1] === 'moveTo' && actions[2] === 'release') {
-    // some things are special
-    return await this.doTouchDrag(/** @type {import('./types').TouchDragAction} */ (gestures));
-  } else {
-    if (actions.length === 2) {
-      // `press` without a wait is too slow and gets interpretted as a `longPress`
-      if (_.head(actions) === 'press' && _.last(actions) === 'release') {
-        actions[0] = 'tap';
-        gestures[0].action = 'tap';
-      }
-
-      // the `longPress` and `tap` methods release on their own
-      if (
-        (_.head(actions) === 'tap' || _.head(actions) === 'longPress') &&
-        _.last(actions) === 'release'
-      ) {
-        gestures.pop();
-        actions.pop();
-      }
-    } else {
-      // longpress followed by anything other than release should become a press and wait
-      if (actions[0] === 'longPress') {
-        actions = ['press', 'wait', ...actions.slice(1)];
-
-        let press = /** @type {NonReleaseTouchAction} */ (gestures.shift());
-        press.action = 'press';
-        /** @type {NonReleaseTouchAction} */
-        let wait = {
-          action: 'wait',
-          options: {ms: press.options.duration || 1000},
-        };
-        delete press.options.duration;
-        gestures = [press, wait, ...gestures];
-      }
-    }
-
-    let fixedGestures = await parseTouch.bind(this)(gestures, false);
-    // fix release action then perform all actions
-    if (actions[actions.length - 1] === 'release') {
-      actions[actions.length - 1] = /** @type {TouchAction} */ (
-        await fixRelease.bind(this)(gestures)
-      );
-    }
-    for (let g of fixedGestures) {
-      await performGesture.bind(this)(g);
-    }
-  }
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchAction[]} actions
- * @param {string} elementId
- * @returns {Promise<void>}
- */
-export async function performMultiAction(actions, elementId) {
-  // Android needs at least two actions to be able to perform a multi pointer gesture
-  if (actions.length === 1) {
-    throw new Error(
-      'Multi Pointer Gestures need at least two actions. ' +
-        'Use Touch Actions for a single action.',
-    );
-  }
-
-  const states = await asyncmap(
-    actions,
-    async (action) => await parseTouch.bind(this)(action, true),
-    false,
-  );
-
-  return await this.doPerformMultiAction(elementId, states);
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {string} elementId
- * @param {import('./types').TouchState[]} states
- * @returns {Promise<void>}
- */
-export async function doPerformMultiAction(elementId, states) {
-  throw new errors.NotImplementedError('Not implemented');
-}
-
-// #region Internal helpers
-
-/**
- * @deprecated
- * @param {number|null} [val]
- * @returns {number}
- */
-function getCoordDefault(val) {
-  // going the long way and checking for undefined and null since
-  // we can't be assured `elId` is a string and not an int. Same
-  // thing with destElement below.
-  return util.hasValue(val) ? val : 0.5;
-}
-
-/**
- * @deprecated
- * @param {number} number
- * @param {number} digits
- * @returns {number}
- */
-export function truncateDecimals(number, digits) {
-  const multiplier = Math.pow(10, digits),
-    adjustedNum = number * multiplier,
-    truncatedNum = Math[adjustedNum < 0 ? 'ceil' : 'floor'](adjustedNum);
-
-  return truncatedNum / multiplier;
-}
-
-/**
- * @deprecated
- * @param {NonReleaseTouchAction} waitGesture
- * @returns {number}
- */
-function getSwipeTouchDuration(waitGesture) {
-  // the touch action api uses ms, we want seconds
-  // 0.8 is the default time for the operation
-  let duration = 0.8;
-  if (typeof waitGesture.options.ms !== 'undefined' && waitGesture.options.ms) {
-    duration = waitGesture.options.ms / 1000;
-    if (duration === 0) {
-      // set to a very low number, since they wanted it fast
-      // but below 0.1 becomes 0 steps, which causes errors
-      duration = 0.1;
-    }
-  }
-  return duration;
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').SwipeAction} gestures
- * @param {number} [touchCount=1]
- * @returns {Promise<import('./types').TouchSwipeOpts>}
- */
-async function getSwipeOptions(gestures, touchCount = 1) {
-  let startX = getCoordDefault(gestures[0].options.x),
-    startY = getCoordDefault(gestures[0].options.y),
-    endX = getCoordDefault(gestures[2].options.x),
-    endY = getCoordDefault(gestures[2].options.y),
-    duration = getSwipeTouchDuration(gestures[1]),
-    element = /** @type {string} */ (gestures[0].options.element),
-    destElement = gestures[2].options.element || gestures[0].options.element;
-
-  // there's no destination element handling in bootstrap and since it applies to all platforms, we handle it here
-  if (util.hasValue(destElement)) {
-    let locResult = await this.getLocationInView(destElement);
-    let sizeResult = await this.getSize(destElement);
-    let offsetX = Math.abs(endX) < 1 && Math.abs(endX) > 0 ? sizeResult.width * endX : endX;
-    let offsetY = Math.abs(endY) < 1 && Math.abs(endY) > 0 ? sizeResult.height * endY : endY;
-    endX = locResult.x + offsetX;
-    endY = locResult.y + offsetY;
-    // if the target element was provided, the coordinates for the destination need to be relative to it.
-    if (util.hasValue(element)) {
-      let firstElLocation = await this.getLocationInView(element);
-      endX -= firstElLocation.x;
-      endY -= firstElLocation.y;
-    }
-  }
-  // clients are responsible to use these options correctly
-  return {startX, startY, endX, endY, duration, touchCount, element};
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchAction[]} gestures
- * @param {boolean} [multi]
- * @returns {Promise<import('./types').TouchState[]>}
- */
-async function parseTouch(gestures, multi) {
-  // because multi-touch releases at the end by default
-  if (multi && /** @type {TouchAction} */ (_.last(gestures)).action === 'release') {
-    gestures.pop();
-  }
-
-  let touchStateObjects = await asyncmap(
-    gestures,
-    async (gesture) => {
-      let options = gesture.options || {};
-      if (_.includes(['press', 'moveTo', 'tap', 'longPress'], gesture.action)) {
-        options.offset = false;
-        let elementId = gesture.options.element;
-        if (elementId) {
-          let pos = await this.getLocationInView(elementId);
-          if (gesture.options.x || gesture.options.y) {
-            options.x = pos.x + (gesture.options.x || 0);
-            options.y = pos.y + (gesture.options.y || 0);
-          } else {
-            const {width, height} = await this.getSize(elementId);
-            options.x = pos.x + width / 2;
-            options.y = pos.y + height / 2;
-          }
-          let touchStateObject = {
-            action: gesture.action,
-            options,
-            timeOffset: 0.005,
-          };
-          return touchStateObject;
-        } else {
-          options.x = gesture.options.x || 0;
-          options.y = gesture.options.y || 0;
-
-          let touchStateObject = {
-            action: gesture.action,
-            options,
-            timeOffset: 0.005,
-          };
-          return touchStateObject;
-        }
-      } else {
-        let offset = 0.005;
-        if (gesture.action === 'wait') {
-          options = gesture.options;
-          offset = parseInt(gesture.options.ms, 10) / 1000;
-        }
-        let touchStateObject = {
-          action: gesture.action,
-          options,
-          timeOffset: offset,
-        };
-        return touchStateObject;
-      }
-    },
-    false,
-  );
-  // we need to change the time (which is now an offset)
-  // and the position (which may be an offset)
-  let prevPos = null,
-    time = 0;
-  for (let state of touchStateObjects) {
-    if (_.isUndefined(state.options.x) && _.isUndefined(state.options.y) && prevPos !== null) {
-      // this happens with wait
-      state.options.x = prevPos.x;
-      state.options.y = prevPos.y;
-    }
-    if (state.options.offset && prevPos) {
-      // the current position is an offset
-      state.options.x += prevPos.x;
-      state.options.y += prevPos.y;
-    }
-    delete state.options.offset;
-    if (!_.isUndefined(state.options.x) && !_.isUndefined(state.options.y)) {
-      prevPos = state.options;
-    }
-
-    if (multi) {
-      let timeOffset = state.timeOffset;
-      time += timeOffset;
-      state.time = truncateDecimals(time, 3);
-
-      // multi gestures require 'touch' rather than 'options'
-      if (!_.isUndefined(state.options.x) && !_.isUndefined(state.options.y)) {
-        state.touch = {
-          x: state.options.x,
-          y: state.options.y,
-        };
-      }
-      delete state.options;
-    }
-    delete state.timeOffset;
-  }
-  return touchStateObjects;
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchAction[]} gestures
- * @returns {Promise<import('./types').ReleaseTouchAction|undefined>}
- */
-async function fixRelease(gestures) {
-  let release = /** @type {import('./types').ReleaseTouchAction} */ (_.last(gestures));
-  // sometimes there are no options
-  release.options = release.options || {};
-  // nothing to do if release options are already set
-  if (release.options.element || (release.options.x && release.options.y)) {
-    return;
-  }
-  // without coordinates, `release` uses the center of the screen, which,
-  // generally speaking, is not what we want
-  // therefore: loop backwards and use the last command with an element and/or
-  // offset coordinates
-  gestures = _.clone(gestures);
-  let ref = null;
-  for (let gesture of /** @type {NonReleaseTouchAction[]} */ (gestures.reverse())) {
-    let opts = gesture.options;
-    if (opts.element || (opts.x && opts.y)) {
-      ref = gesture;
-      break;
-    }
-  }
-  if (ref) {
-    let opts = ref.options;
-    if (opts.element) {
-      let loc = await this.getLocationInView(opts.element);
-      if (opts.x && opts.y) {
-        // this is an offset from the element
-        release.options = {
-          x: loc.x + opts.x,
-          y: loc.y + opts.y,
-        };
-      } else {
-        // this is the center of the element
-        let size = await this.getSize(opts.element);
-        release.options = {
-          x: loc.x + size.width / 2,
-          y: loc.y + size.height / 2,
-        };
-      }
-    } else {
-      release.options = _.pick(opts, 'x', 'y');
-    }
-  }
-  return release;
-}
-
-/**
- * @deprecated
- * @this {import('../driver').AndroidDriver}
- * @param {import('./types').TouchAction} gesture
- * @returns {Promise<void>}
- */
-async function performGesture(gesture) {
-  try {
-    return await this.doTouchAction(gesture.action, gesture.options || {});
-  } catch (e) {
-    // sometime the element is not available when releasing, retry without it
-    if (
-      isErrorType(e, errors.NoSuchElementError) &&
-      gesture.action === 'release' &&
-      gesture.options?.element
-    ) {
-      delete gesture.options.element;
-      this.log.debug(`retrying release without element opts: ${gesture.options}.`);
-      return await this.doTouchAction(gesture.action, gesture.options || {});
-    }
-    throw e;
-  }
-}
-
-// #endregion
-
-/**
- * @typedef {import('appium-adb').ADB} ADB
- * @typedef {import('./types').TouchAction} TouchAction
- * @typedef {import('./types').NonReleaseTouchAction} NonReleaseTouchAction
- */
diff --git a/lib/commands/types.ts b/lib/commands/types.ts
index 55e237a9..addd94b0 100644
--- a/lib/commands/types.ts
+++ b/lib/commands/types.ts
@@ -1025,73 +1025,6 @@ export interface StatusBarCommandOpts {
   component?: string;
 }
 
-export type TouchActionKind =
-  | 'tap'
-  | 'press'
-  | 'release'
-  | 'moveTo'
-  | 'wait'
-  | 'longPress'
-  | 'cancel';
-
-export interface TouchActionOpts {
-  element?: string;
-  x?: number;
-  y?: number;
-  count?: number;
-  ms?: number;
-  duration?: number;
-}
-
-export interface TouchOpts {
-  x?: number;
-  y?: number;
-  element?: string;
-  duration?: number;
-  ms?: number;
-}
-
-export type TouchState = TouchAction & {
-  timeOffset: number;
-};
-
-/**
- * @privateRemarks FIXME: Is this the same as {@link SwipeOpts}?
- */
-export interface TouchSwipeOpts {
-  startX: number;
-  startY: number;
-  endX: number;
-  endY: number;
-  duration: number;
-  touchCount: number;
-  element: string;
-}
-
-// XXX: these touchaction types are pretty hinky.  I don't have enough context
-// to do better, sorry  !
-
-export type TouchAction = ReleaseTouchAction | NonReleaseTouchAction;
-
-export interface NonReleaseTouchAction {
-  action: Exclude<TouchActionKind, 'release'>;
-  options: TouchActionOpts;
-}
-
-export interface ReleaseTouchAction {
-  action: 'release';
-  options?: TouchActionOpts;
-}
-
-export type SwipeAction = [
-  NonReleaseTouchAction,
-  NonReleaseTouchAction,
-  NonReleaseTouchAction,
-  ReleaseTouchAction,
-];
-
-export type TouchDragAction = [NonReleaseTouchAction, NonReleaseTouchAction, ReleaseTouchAction];
-
 export interface LockOpts {
   /**
    * The number to keep the locked.
diff --git a/lib/driver.ts b/lib/driver.ts
index b1f09a7b..cc33ad58 100644
--- a/lib/driver.ts
+++ b/lib/driver.ts
@@ -195,19 +195,6 @@ import {mobileShell} from './commands/shell';
 import {mobileStartScreenStreaming, mobileStopScreenStreaming} from './commands/streamscreen';
 import {getSystemBars, mobilePerformStatusBarCommand} from './commands/system-bars';
 import {getDeviceTime, mobileGetDeviceTime} from './commands/time';
-import {
-  tap,
-  touchLongClick,
-  touchDown,
-  touchUp,
-  touchMove,
-  doSwipe,
-  doTouchDrag,
-  doTouchAction,
-  performMultiAction,
-  performTouch,
-  doPerformMultiAction,
-} from './commands/touch';
 
 export type AndroidDriverCaps = DriverCaps<AndroidDriverConstraints>;
 export type W3CAndroidDriverCaps = W3CDriverCaps<AndroidDriverConstraints>;
@@ -529,18 +516,6 @@ class AndroidDriver
 
   getDeviceTime = getDeviceTime;
   mobileGetDeviceTime = mobileGetDeviceTime;
-
-  tap = tap;
-  touchLongClick = touchLongClick;
-  touchDown = touchDown;
-  touchUp = touchUp;
-  touchMove = touchMove;
-  doSwipe = doSwipe;
-  doTouchDrag = doTouchDrag;
-  doTouchAction = doTouchAction;
-  performMultiAction = performMultiAction;
-  performTouch = performTouch;
-  doPerformMultiAction = doPerformMultiAction;
 }
 
 export {AndroidDriver};
diff --git a/lib/method-map.js b/lib/method-map.js
index 0c507f74..bbbc37c2 100644
--- a/lib/method-map.js
+++ b/lib/method-map.js
@@ -19,36 +19,6 @@ export const newMethodMap = /** @type {const} */ ({
   '/session/:sessionId/element/:elementId/location': {GET: {command: 'getLocation'}},
   '/session/:sessionId/element/:elementId/location_in_view': {GET: {command: 'getLocationInView'}},
   '/session/:sessionId/element/:elementId/size': {GET: {command: 'getSize'}},
-  '/session/:sessionId/touch/click': {
-    POST: {command: 'click', payloadParams: {required: ['element']}},
-  },
-  '/session/:sessionId/touch/down': {
-    POST: {command: 'touchDown', payloadParams: {required: ['x', 'y']}},
-  },
-  '/session/:sessionId/touch/up': {
-    POST: {command: 'touchUp', payloadParams: {required: ['x', 'y']}},
-  },
-  '/session/:sessionId/touch/move': {
-    POST: {command: 'touchMove', payloadParams: {required: ['x', 'y']}},
-  },
-  '/session/:sessionId/touch/longclick': {
-    POST: {
-      command: 'touchLongClick',
-      payloadParams: {required: ['elements']},
-    },
-  },
-  '/session/:sessionId/touch/perform': {
-    POST: {
-      command: 'performTouch',
-      payloadParams: {wrap: 'actions', required: ['actions']},
-    },
-  },
-  '/session/:sessionId/touch/multi/perform': {
-    POST: {
-      command: 'performMultiAction',
-      payloadParams: {required: ['actions'], optional: ['elementId']},
-    },
-  },
   '/session/:sessionId/appium/device/lock': {
     POST: {command: 'lock', payloadParams: {optional: ['seconds']}},
   },