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"Does it mean we can finally remove the thousands of American troops and quit paying the billions it costs to post them there? Or does that go on forever?"

If they actually de-nuclearize and if they actually pull troops and weapons systems back from the DMZ and all of this is inspected and confirmed (a lot of ifs there), I think we would pull some of our troops out. But not all the way back to the states, maybe to Guam. These troops are not just there as a tripwire for North Korea, but as a deterrent and to defend our interests in the Pacific region.

As people have mentioned, we still have troops stationed all over the world. We start pulling troops back and then our allies may start looking for other partners (China) to work with and not necessarily us. We have a lot of trade at stake there. The reason the British had a huge navy for all of those years was not to protect everyone else's interests, but their own. Like them, we have to work with our partners in all these regions to keep sea lanes and air lanes open for trade and travel, etc...