The most appropriate antonym of the word usurp is release.
- Usurp means "to seize and hold (a position of power or authority) illegally or by force."
- Release means "to set free or liberate."
The other words do not have the opposite meaning of usurp.
- Wrest means "to take (something) by force or violence."
- Annex means "to add (territory) to a country or state."
- Assume means "to take on (a role, responsibility, or obligation)."
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