Maybe it is time to grant the RoKs wish. Let them hold a national referendum on our remaining. If a majority of the RoK citizens want us gone, why should we be there? That would be the perfect time to bring the "Forgotten 2nd" and the USAF Rok contingent home. We then publicly declare that we have no problem with Japan modifying its constitution to allow the JSDF to build nukes and operate outside of Japanese territory.
When the DPRK moves south, and kills a whole bunch of people, put a whole lot of other people into re-education camps, and then starts threatening Japan, it will give the rest of the world a good look at what biting the hand that protects them leads to.
I think you misunderstand. The vast majority of ROKs like Americans, appreciate our help, and want us to stay. That doesn't mean they necessarily like the often condescending and boorish (and sometimes criminal) behavior exhibited by GIs, but they're much too polite to say so.
They have their loudmouths, of course, just like we do. They demonstrate and make lots of noise, and get lots of publicity. That doesn't make them representative of ROK public opinion.
Recognize also that 30 years ago it was estimated the North Koreans had 80,000 agents in the South. I'm sure they're well trained at agitprop and miss no chance to foment dissent and to stick a thumb in the US collective eye.
I can vividly recall going hiking out in the country, away from the US bases where rude, drunken GIs had already made an indelible impression. I was regularly invited into homes for drink, food and conversation. Regular folks liked us quite well, and were very friendly.