This typically is done via the MX features on the device. The TC2x series of devices only supports a subset of the MX features, and does not have the capability to remove this. The feature matrix for the TC2x devices can be found here: TC20/TC25 Feature Matrix - Zebra Technologies Techdocs
For other devices that support it, this can be done with the PowerKey Manager: PowerKey Manager - Zebra Technologies Techdocs
Software Engineer Kutir Mobility
Posted on behalf of Zebra Technologies
I'm afraid Dennis would like to disable access to recovery mode.