Remove article:published_time and article:modified_time meta tags from all posts

add_filter( 'aioseo_facebook_tags', 'aioseo_filter_facebook_article_tags' );

function aioseo_filter_facebook_article_tags( $facebookMeta ) {

   if ( is_singular() ) {

      $facebookMeta['article:published_time'] = '';

      $facebookMeta['article:modified_time']  = '';

   }

   return $facebookMeta;

}