How do I remove the term ID from the view URL?
Perhaps you can do this using htaccess rules.

You can probably apply the patch from this issue and than according to the reports you will be able to create a path alias from within drupal that accept url parameters (as in your case)

But you can also try views_url_path_arguments which seems to be usable in Drupal 8 judging from the amount of downloads.

Perhaps you can also give this sandbox module Query Parameters To Url a try

Note: I have not tested the above 2 modules