You can, of course, remove whatever you want - it's your system. It is still a good idea to leave the old kernel there in case there's something wrong with the new one. While that may not happen very often (as you say "without encountering problems") there's always a possibility. There's no real benefit to removing the old kernel beyond saving some disk space. Whatever happened with the situation here where you ended up in the rescue mode was almost certainly not because of a "kernel conflict" as a result of 2 kernels existing on disk but something else. There wasn't enough information provided to fully diagnose it though. We know only that you ended up in the rescue shell.

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