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I'm currently entangled in a suit with Transunion about this type of issues, so my advise could be a little skewed here.
You can't ask the CRAs to remove inquiries, as the CRA are required by law to show inquiries TO PROTECT the consumer. Now, the law never bother clarifying the difference between soft and hard inquiries, and Transunion, on purpose, treats all COLLECTOR inquiries as visible inquiries, while the other two CRAs normally treat them mostly (not always) as soft inquiries.
What you are entitled to under the law, is to ASK the CRA to INVESTIGATE the permissibility of the inquiry and provide you with results. If they fail to investigate, or give you the usual response "you permissibility is not necessary" - I PERSONALLY BELIEVE you can sue TU for failure to investigate a complaint.
It helps to notify the CA placing the inquiry of the impermissibility of their inquiry and complain with the regulatory agencies.
If you have not received a dunning letter from the CA within 5 days from the inquiry being placed on your credit report, you could also notify the CA of violation of the FDCPA.
It would also help for a future lawsuit, to send a DV letter to the CA within 30 days from the appearance of the inquiry.