dpkg --list | grep '^rc\b' | awk '{ print $2 }'\
| xargs sudo dpkg -P
The explanation: dpkg --list lists all the installed packages. Then we pipe it through grep to select only the lines that start with 'rc' (I guess for Remaining Configuration or somthing like that). Then awk will print the second word of each line (the package name), and finally xargs receives all those packages and passes them as the comand line to dpkg.
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I think the config line you are looking for is:
Apt::Get::Purge;
See the apt-get man page where it discusses the --purge option.
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