diff --git a/docs/architecture/TypeScript_ESTree.mdx b/docs/architecture/TypeScript_ESTree.mdx
index 1df714085953..2b7fadedd8f4 100644
--- a/docs/architecture/TypeScript_ESTree.mdx
+++ b/docs/architecture/TypeScript_ESTree.mdx
@@ -290,39 +290,6 @@ const { ast, services } = parseAndGenerateServices(code, {
 });
 ```
 
-#### `parseWithNodeMaps(code, options)`
-
-Parses the given string of code with the options provided and returns both the ESTree-compatible AST as well as the node maps.
-This allows you to work with both ASTs without the overhead of types that may come with `parseAndGenerateServices`.
-
-```ts
-interface ParseWithNodeMapsResult<T extends TSESTreeOptions> {
-  ast: TSESTree.Program;
-  esTreeNodeToTSNodeMap: ParserServices['esTreeNodeToTSNodeMap'];
-  tsNodeToESTreeNodeMap: ParserServices['tsNodeToESTreeNodeMap'];
-}
-
-declare function parseWithNodeMaps(
-  code: string,
-  options: ParseOptions = PARSE_DEFAULT_OPTIONS,
-): ParseWithNodeMapsResult;
-```
-
-Example usage:
-
-```js
-import { parseWithNodeMaps } from '@typescript-eslint/typescript-estree';
-
-const code = `const hello: string = 'world';`;
-const { ast, esTreeNodeToTSNodeMap, tsNodeToESTreeNodeMap } = parseWithNodeMaps(
-  code,
-  {
-    loc: true,
-    range: true,
-  },
-);
-```
-
 ### `TSESTree`, `AST_NODE_TYPES` and `AST_TOKEN_TYPES`
 
 Types for the AST produced by the parse functions.
diff --git a/packages/typescript-estree/src/index.ts b/packages/typescript-estree/src/index.ts
index 07dd20bb0605..c86262b7cd9d 100644
--- a/packages/typescript-estree/src/index.ts
+++ b/packages/typescript-estree/src/index.ts
@@ -2,9 +2,7 @@ export {
   AST,
   parse,
   parseAndGenerateServices,
-  parseWithNodeMaps,
   ParseAndGenerateServicesResult,
-  ParseWithNodeMapsResult,
 } from './parser';
 export {
   ParserServices,
diff --git a/packages/typescript-estree/src/parser.ts b/packages/typescript-estree/src/parser.ts
index 4a3e55e038d2..f5b869c0efc1 100644
--- a/packages/typescript-estree/src/parser.ts
+++ b/packages/typescript-estree/src/parser.ts
@@ -142,13 +142,6 @@ function parseWithNodeMapsInternal<T extends TSESTreeOptions = TSESTreeOptions>(
   };
 }
 
-function parseWithNodeMaps<T extends TSESTreeOptions = TSESTreeOptions>(
-  code: string,
-  options?: T,
-): ParseWithNodeMapsResult<T> {
-  return parseWithNodeMapsInternal(code, options, true);
-}
-
 let parseAndGenerateServicesCalls: { [fileName: string]: number } = {};
 // Privately exported utility intended for use in typescript-eslint unit tests only
 function clearParseAndGenerateServicesCalls(): void {
@@ -278,9 +271,7 @@ export {
   AST,
   parse,
   parseAndGenerateServices,
-  parseWithNodeMaps,
   ParseAndGenerateServicesResult,
-  ParseWithNodeMapsResult,
   clearProgramCache,
   clearParseAndGenerateServicesCalls,
 };
diff --git a/packages/typescript-estree/tests/lib/__snapshots__/parse.test.ts.snap b/packages/typescript-estree/tests/lib/__snapshots__/parse.test.ts.snap
index 8c2e78614356..0f777af2df28 100644
--- a/packages/typescript-estree/tests/lib/__snapshots__/parse.test.ts.snap
+++ b/packages/typescript-estree/tests/lib/__snapshots__/parse.test.ts.snap
@@ -4199,492 +4199,3 @@ exports[`parseAndGenerateServices isolated parsing should parse .vue file - with
   },
 }
 `;
-
-exports[`parseWithNodeMaps() general output should not contain loc 1`] = `
-{
-  "body": [
-    {
-      "declarations": [
-        {
-          "definite": false,
-          "id": {
-            "decorators": [],
-            "name": "foo",
-            "optional": false,
-            "range": [
-              4,
-              7,
-            ],
-            "type": "Identifier",
-          },
-          "init": {
-            "decorators": [],
-            "name": "bar",
-            "optional": false,
-            "range": [
-              10,
-              13,
-            ],
-            "type": "Identifier",
-          },
-          "range": [
-            4,
-            13,
-          ],
-          "type": "VariableDeclarator",
-        },
-      ],
-      "declare": false,
-      "kind": "let",
-      "range": [
-        0,
-        14,
-      ],
-      "type": "VariableDeclaration",
-    },
-  ],
-  "range": [
-    0,
-    14,
-  ],
-  "sourceType": "script",
-  "type": "Program",
-}
-`;
-
-exports[`parseWithNodeMaps() general output should not contain range 1`] = `
-{
-  "body": [
-    {
-      "declarations": [
-        {
-          "definite": false,
-          "id": {
-            "decorators": [],
-            "loc": {
-              "end": {
-                "column": 7,
-                "line": 1,
-              },
-              "start": {
-                "column": 4,
-                "line": 1,
-              },
-            },
-            "name": "foo",
-            "optional": false,
-            "type": "Identifier",
-          },
-          "init": {
-            "decorators": [],
-            "loc": {
-              "end": {
-                "column": 13,
-                "line": 1,
-              },
-              "start": {
-                "column": 10,
-                "line": 1,
-              },
-            },
-            "name": "bar",
-            "optional": false,
-            "type": "Identifier",
-          },
-          "loc": {
-            "end": {
-              "column": 13,
-              "line": 1,
-            },
-            "start": {
-              "column": 4,
-              "line": 1,
-            },
-          },
-          "type": "VariableDeclarator",
-        },
-      ],
-      "declare": false,
-      "kind": "let",
-      "loc": {
-        "end": {
-          "column": 14,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "type": "VariableDeclaration",
-    },
-  ],
-  "loc": {
-    "end": {
-      "column": 14,
-      "line": 1,
-    },
-    "start": {
-      "column": 0,
-      "line": 1,
-    },
-  },
-  "sourceType": "script",
-  "type": "Program",
-}
-`;
-
-exports[`parseWithNodeMaps() general output tokens, comments, locs, and ranges when called with those options 1`] = `
-{
-  "body": [
-    {
-      "declarations": [
-        {
-          "definite": false,
-          "id": {
-            "decorators": [],
-            "loc": {
-              "end": {
-                "column": 7,
-                "line": 1,
-              },
-              "start": {
-                "column": 4,
-                "line": 1,
-              },
-            },
-            "name": "foo",
-            "optional": false,
-            "range": [
-              4,
-              7,
-            ],
-            "type": "Identifier",
-          },
-          "init": {
-            "decorators": [],
-            "loc": {
-              "end": {
-                "column": 13,
-                "line": 1,
-              },
-              "start": {
-                "column": 10,
-                "line": 1,
-              },
-            },
-            "name": "bar",
-            "optional": false,
-            "range": [
-              10,
-              13,
-            ],
-            "type": "Identifier",
-          },
-          "loc": {
-            "end": {
-              "column": 13,
-              "line": 1,
-            },
-            "start": {
-              "column": 4,
-              "line": 1,
-            },
-          },
-          "range": [
-            4,
-            13,
-          ],
-          "type": "VariableDeclarator",
-        },
-      ],
-      "declare": false,
-      "kind": "let",
-      "loc": {
-        "end": {
-          "column": 14,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        14,
-      ],
-      "type": "VariableDeclaration",
-    },
-  ],
-  "comments": [],
-  "loc": {
-    "end": {
-      "column": 14,
-      "line": 1,
-    },
-    "start": {
-      "column": 0,
-      "line": 1,
-    },
-  },
-  "range": [
-    0,
-    14,
-  ],
-  "sourceType": "script",
-  "tokens": [
-    {
-      "loc": {
-        "end": {
-          "column": 3,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        3,
-      ],
-      "type": "Keyword",
-      "value": "let",
-    },
-    {
-      "loc": {
-        "end": {
-          "column": 7,
-          "line": 1,
-        },
-        "start": {
-          "column": 4,
-          "line": 1,
-        },
-      },
-      "range": [
-        4,
-        7,
-      ],
-      "type": "Identifier",
-      "value": "foo",
-    },
-    {
-      "loc": {
-        "end": {
-          "column": 9,
-          "line": 1,
-        },
-        "start": {
-          "column": 8,
-          "line": 1,
-        },
-      },
-      "range": [
-        8,
-        9,
-      ],
-      "type": "Punctuator",
-      "value": "=",
-    },
-    {
-      "loc": {
-        "end": {
-          "column": 13,
-          "line": 1,
-        },
-        "start": {
-          "column": 10,
-          "line": 1,
-        },
-      },
-      "range": [
-        10,
-        13,
-      ],
-      "type": "Identifier",
-      "value": "bar",
-    },
-    {
-      "loc": {
-        "end": {
-          "column": 14,
-          "line": 1,
-        },
-        "start": {
-          "column": 13,
-          "line": 1,
-        },
-      },
-      "range": [
-        13,
-        14,
-      ],
-      "type": "Punctuator",
-      "value": ";",
-    },
-  ],
-  "type": "Program",
-}
-`;
-
-exports[`parseWithNodeMaps() non string code should correctly convert code to a string for parse() 1`] = `
-{
-  "body": [
-    {
-      "expression": {
-        "loc": {
-          "end": {
-            "column": 5,
-            "line": 1,
-          },
-          "start": {
-            "column": 0,
-            "line": 1,
-          },
-        },
-        "range": [
-          0,
-          5,
-        ],
-        "raw": "12345",
-        "type": "Literal",
-        "value": 12345,
-      },
-      "loc": {
-        "end": {
-          "column": 5,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        5,
-      ],
-      "type": "ExpressionStatement",
-    },
-  ],
-  "comments": [],
-  "loc": {
-    "end": {
-      "column": 5,
-      "line": 1,
-    },
-    "start": {
-      "column": 0,
-      "line": 1,
-    },
-  },
-  "range": [
-    0,
-    5,
-  ],
-  "sourceType": "script",
-  "tokens": [
-    {
-      "loc": {
-        "end": {
-          "column": 5,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        5,
-      ],
-      "type": "Numeric",
-      "value": "12345",
-    },
-  ],
-  "type": "Program",
-}
-`;
-
-exports[`parseWithNodeMaps() non string code should correctly convert code to a string for parseAndGenerateServices() 1`] = `
-{
-  "body": [
-    {
-      "expression": {
-        "loc": {
-          "end": {
-            "column": 5,
-            "line": 1,
-          },
-          "start": {
-            "column": 0,
-            "line": 1,
-          },
-        },
-        "range": [
-          0,
-          5,
-        ],
-        "raw": "12345",
-        "type": "Literal",
-        "value": 12345,
-      },
-      "loc": {
-        "end": {
-          "column": 5,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        5,
-      ],
-      "type": "ExpressionStatement",
-    },
-  ],
-  "comments": [],
-  "loc": {
-    "end": {
-      "column": 5,
-      "line": 1,
-    },
-    "start": {
-      "column": 0,
-      "line": 1,
-    },
-  },
-  "range": [
-    0,
-    5,
-  ],
-  "sourceType": "script",
-  "tokens": [
-    {
-      "loc": {
-        "end": {
-          "column": 5,
-          "line": 1,
-        },
-        "start": {
-          "column": 0,
-          "line": 1,
-        },
-      },
-      "range": [
-        0,
-        5,
-      ],
-      "type": "Numeric",
-      "value": "12345",
-    },
-  ],
-  "type": "Program",
-}
-`;
diff --git a/packages/typescript-estree/tests/lib/parse.test.ts b/packages/typescript-estree/tests/lib/parse.test.ts
index 6e2adac8f870..7b4503513345 100644
--- a/packages/typescript-estree/tests/lib/parse.test.ts
+++ b/packages/typescript-estree/tests/lib/parse.test.ts
@@ -5,26 +5,12 @@ import { join, resolve } from 'path';
 import type * as typescriptModule from 'typescript';
 
 import * as parser from '../../src';
-import * as astConverterModule from '../../src/ast-converter';
 import * as sharedParserUtilsModule from '../../src/create-program/shared';
 import type { TSESTreeOptions } from '../../src/parser-options';
 import { clearGlobResolutionCache } from '../../src/parseSettings/resolveProjectList';
-import { createSnapshotTestBlock } from '../../tools/test-utils';
 
 const FIXTURES_DIR = join(__dirname, '../fixtures/simpleProject');
 
-// we can't spy on the exports of an ES module - so we instead have to mock the entire module
-jest.mock('../../src/ast-converter', () => {
-  const astConverterActual = jest.requireActual<typeof astConverterModule>(
-    '../../src/ast-converter',
-  );
-
-  return {
-    ...astConverterActual,
-    __esModule: true,
-    astConverter: jest.fn(astConverterActual.astConverter),
-  };
-});
 jest.mock('../../src/create-program/shared', () => {
   const sharedActual = jest.requireActual<typeof sharedParserUtilsModule>(
     '../../src/create-program/shared',
@@ -62,7 +48,6 @@ jest.mock('globby', () => {
 
 const hrtimeSpy = jest.spyOn(process, 'hrtime');
 
-const astConverterMock = jest.mocked(astConverterModule.astConverter);
 const createDefaultCompilerOptionsFromExtra = jest.mocked(
   sharedParserUtilsModule.createDefaultCompilerOptionsFromExtra,
 );
@@ -81,139 +66,6 @@ beforeEach(() => {
   clearGlobResolutionCache();
 });
 
-describe('parseWithNodeMaps()', () => {
-  describe('basic functionality', () => {
-    it('should parse an empty string', () => {
-      expect(parser.parseWithNodeMaps('').ast.body).toEqual([]);
-      expect(parser.parseWithNodeMaps('', {}).ast.body).toEqual([]);
-    });
-
-    it('parse() should be the same as parseWithNodeMaps().ast', () => {
-      const code = 'const x: number = 1;';
-      expect(parser.parseWithNodeMaps(code).ast).toMatchObject(
-        parser.parse(code),
-      );
-    });
-
-    it('should simple code', () => {
-      const result = parser.parseWithNodeMaps('1;');
-      expect(result.ast).toMatchInlineSnapshot(`
-        {
-          "body": [
-            {
-              "directive": undefined,
-              "expression": {
-                "raw": "1",
-                "type": "Literal",
-                "value": 1,
-              },
-              "type": "ExpressionStatement",
-            },
-          ],
-          "comments": undefined,
-          "sourceType": "script",
-          "tokens": undefined,
-          "type": "Program",
-        }
-      `);
-      const tsNode = result.esTreeNodeToTSNodeMap.get(result.ast.body[0]);
-      expect(tsNode).toBeDefined();
-      expect(result.tsNodeToESTreeNodeMap.get(tsNode)).toBeDefined();
-    });
-  });
-
-  describe('modules', () => {
-    it('should have correct column number when strict mode error occurs', () => {
-      try {
-        parser.parseWithNodeMaps('function fn(a, a) {\n}');
-      } catch (
-        // eslint-disable-next-line @typescript-eslint/no-explicit-any
-        err: any
-      ) {
-        expect(err.column).toBe(16);
-      }
-    });
-  });
-
-  describe('general', () => {
-    const code = 'let foo = bar;';
-    const config: TSESTreeOptions = {
-      comment: true,
-      tokens: true,
-      range: true,
-      loc: true,
-    };
-
-    it(
-      'output tokens, comments, locs, and ranges when called with those options',
-      createSnapshotTestBlock(code, config),
-    );
-
-    it(
-      'output should not contain loc',
-      createSnapshotTestBlock(code, {
-        range: true,
-        loc: false,
-      }),
-    );
-
-    it(
-      'output should not contain range',
-      createSnapshotTestBlock(code, {
-        range: false,
-        loc: true,
-      }),
-    );
-  });
-
-  describe('non string code', () => {
-    // testing a non string code..
-    // eslint-disable-next-line @typescript-eslint/no-explicit-any
-    const code = 12345 as any as string;
-    const config: TSESTreeOptions = {
-      comment: true,
-      tokens: true,
-      range: true,
-      loc: true,
-    };
-
-    it(
-      'should correctly convert code to a string for parse()',
-      createSnapshotTestBlock(code, config),
-    );
-
-    it(
-      'should correctly convert code to a string for parseAndGenerateServices()',
-      createSnapshotTestBlock(code, config, true),
-    );
-  });
-
-  describe('loggerFn should be propagated to ast-converter', () => {
-    it('output tokens, comments, locs, and ranges when called with those options', () => {
-      const loggerFn = jest.fn(() => {});
-
-      parser.parseWithNodeMaps('let foo = bar;', {
-        loggerFn,
-        comment: true,
-        tokens: true,
-        range: true,
-        loc: true,
-      });
-
-      expect(astConverterMock).toHaveBeenCalled();
-      expect(astConverterMock.mock.calls[0][1]).toMatchObject({
-        code: 'let foo = bar;',
-        comment: true,
-        comments: [],
-        loc: true,
-        log: loggerFn,
-        range: true,
-        tokens: expect.any(Array),
-      });
-    });
-  });
-});
-
 describe('parseAndGenerateServices', () => {
   describe('preserveNodeMaps', () => {
     const code = 'var a = true';
@@ -252,31 +104,6 @@ describe('parseAndGenerateServices', () => {
       );
     });
 
-    it('should not impact the use of parseWithNodeMaps()', () => {
-      const resultWithNoOptionSet = parser.parseWithNodeMaps(code, baseConfig);
-      const resultWithOptionSetToTrue = parser.parseWithNodeMaps(code, {
-        ...baseConfig,
-        preserveNodeMaps: true,
-      });
-      const resultWithOptionSetToFalse = parser.parseWithNodeMaps(code, {
-        ...baseConfig,
-        preserveNodeMaps: false,
-      });
-      const resultWithOptionSetExplicitlyToUndefined = parser.parseWithNodeMaps(
-        code,
-        {
-          ...baseConfig,
-          preserveNodeMaps: undefined,
-        },
-      );
-
-      expect(resultWithNoOptionSet).toMatchObject(resultWithOptionSetToTrue);
-      expect(resultWithNoOptionSet).toMatchObject(resultWithOptionSetToFalse);
-      expect(resultWithNoOptionSet).toMatchObject(
-        resultWithOptionSetExplicitlyToUndefined,
-      );
-    });
-
     it('should preserve node maps by default for parseAndGenerateServices()', () => {
       const noOptionSet = parser.parseAndGenerateServices(code, baseConfig);
 

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