掉 drops the object out of existence — used up, disposed (吃掉, 賣掉). 去2 sends it off a named place or set, still existing but no longer here (除去, 拿去). 掉 = gone for good; 去2 = gone from this spot.
去1 marks plain direction away from the speaker; the object still exists somewhere out there (他跑去學校 — he ran off, now at school). 去2 marks departure from a stated place so the object is removed from it (從名單上除去). Direction vs removal.
A plain resultative names any outcome state (看懂, 寫好); 去2 names one specific outcome — the object is taken off its place. 去2 is a resultative narrowed to removal-away.
他從名單上去除名字 (去 leading) ✗ → 他把名字從名單上除去 ✓ (去 follows the verb, never leads it)
他把名字從名單上除掉 (for 'off the list') — fine for disposal, but if the name still exists elsewhere ✗ → 他把名字從名單上除去 ✓ (去 keeps the off-this-place reading)
他把灰塵擦去桌子 ✗ → 他把桌子上的灰塵擦去 ✓ (the place departed is marked before the verb, not parked after 去)
English marks this with a particle after the verb — wipe off, take away, cross out. Chinese fixes 去 in that same slot, and the place left behind is named with 從…上 before the verb, not after 去.