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You might try a razor blade scraper; it would be a long, difficult task but it could be done.
Caulked teak decks usually have a piece of cotton string beneath the caulk (if done properly) so you can pull the string and lift the caulking out. This is done so that re-caulking is easily done to protect the underlying deck from leaks. At 20 years old without re-caulking it probably is either time to re-caulk or replace the teak decking depending on how much deck material is left.