diff --git a/.circleci/config.yml b/.circleci/config.yml
index ced6285..32e188d 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -37,9 +37,6 @@ jobs:
           name: Decode the EDID
           command: tests/decode-edid
   build:
-    parameters:
-      scenario:
-        type: string
     machine:
       image: ubuntu-2004:202010-01
     resource_class: large
@@ -62,7 +59,7 @@ jobs:
             pip install -r molecule/requirements.txt && \
             ansible --version && \
             molecule --version && \
-            molecule test --scenario-name << parameters.scenario >>
+            molecule test
 workflows:
   version: 2
   all-tests:
@@ -70,7 +67,4 @@ workflows:
       - check_whitespace
       - check_bash
       - decode_edid
-      - build:
-          matrix:
-            parameters:
-              scenario: [legacy, default]
+      - build
diff --git a/defaults/main.yml b/defaults/main.yml
index d01939b..52cd36b 100644
--- a/defaults/main.yml
+++ b/defaults/main.yml
@@ -11,7 +11,7 @@ ustreamer_port: null
 # Path to video device, such as /dev/video1.
 ustreamer_video_path: null
 
-# Encoding method to use, such as omx.
+# Encoding method to use, such as `m2m-image`.
 ustreamer_encoder: null
 
 # Device input format, such as uyvy .
@@ -82,10 +82,6 @@ ustreamer_edid: |
 # Location to store EDID files.
 ustreamer_edids_dir: /home/{{ ustreamer_user }}/edids
 
-# For versions of uStreamer prior to 5.0, H264 sink options are only available
-# when OpenMax IL hardware acceleration is enabled via the dynamically defined
-# ustreamer_compile_omx variable.
-
 # Use the specified shared memory object to sink H264 frames encoded by MMAL
 # (e.g., tinypilot::ustreamer::h264). Disabled by default.
 ustreamer_h264_sink: null
diff --git a/meta/main.yml b/meta/main.yml
index 95b2d64..788d61f 100644
--- a/meta/main.yml
+++ b/meta/main.yml
@@ -10,7 +10,6 @@
     platforms:
       - name: Debian
         versions:
-          - buster
           - bullseye
       - name: Ubuntu
         versions:
diff --git a/molecule/default/molecule.yml b/molecule/default/molecule.yml
index 6beb4fc..853b0bf 100644
--- a/molecule/default/molecule.yml
+++ b/molecule/default/molecule.yml
@@ -4,13 +4,6 @@ dependency:
 driver:
   name: docker
 platforms:
-  - name: debian10
-    image: geerlingguy/docker-debian10-ansible
-    command: ${MOLECULE_DOCKER_COMMAND:-""}
-    volumes:
-      - /sys/fs/cgroup:/sys/fs/cgroup:ro
-    privileged: true
-    pre_build_image: true
   - name: debian11
     image: geerlingguy/docker-debian11-ansible
     command: ${MOLECULE_DOCKER_COMMAND:-""}
diff --git a/molecule/legacy/converge.yml b/molecule/legacy/converge.yml
deleted file mode 100644
index 22ca3a0..0000000
--- a/molecule/legacy/converge.yml
+++ /dev/null
@@ -1,27 +0,0 @@
----
-- name: Converge
-  hosts: all
-  gather_facts: no
-  tasks:
-    - name: Update apt cache and install system dependencies
-      apt:
-        name:
-          # To accurately detect the OS of the target machine, we need to
-          # install the lsb-release package before Ansible gathers facts. This
-          # ensures that the ansible_lsb fact is defined.
-          # https://docs.ansible.com/ansible/latest/playbook_guide/playbooks_conditionals.html#conditionals-based-on-ansible-facts
-          - lsb-release
-        update_cache: true
-        cache_valid_time: 600
-    - name: Gather facts
-      setup:
-    - name: "Include ansible-role-ustreamer"
-      include_role:
-        name: "ansible-role-ustreamer"
-      vars:
-        ustreamer_repo_version: "v4.13"
-        # Assigning `ustreamer_h264_sink` will exercise the role tasks related
-        # to installing and configuring the Janus WebRTC server.
-        ustreamer_h264_sink: tinypilot::ustreamer::h264
-        ustreamer_h264_sink_mode: 777
-        ustreamer_h264_sink_rm: yes
diff --git a/molecule/legacy/molecule.yml b/molecule/legacy/molecule.yml
deleted file mode 100644
index 9b36acd..0000000
--- a/molecule/legacy/molecule.yml
+++ /dev/null
@@ -1,47 +0,0 @@
----
-dependency:
-  name: galaxy
-driver:
-  name: docker
-platforms:
-  - name: debian10
-    image: geerlingguy/docker-debian10-ansible
-    command: ${MOLECULE_DOCKER_COMMAND:-""}
-    volumes:
-      - /sys/fs/cgroup:/sys/fs/cgroup:ro
-    privileged: true
-    pre_build_image: true
-  - name: debian11
-    image: geerlingguy/docker-debian11-ansible
-    command: ${MOLECULE_DOCKER_COMMAND:-""}
-    volumes:
-      - /sys/fs/cgroup:/sys/fs/cgroup:ro
-    privileged: true
-    pre_build_image: true
-  - name: ubuntu22
-    image: geerlingguy/docker-ubuntu2204-ansible
-    command: ${MOLECULE_DOCKER_COMMAND:-""}
-    volumes:
-      - /sys/fs/cgroup:/sys/fs/cgroup:ro
-    privileged: true
-    pre_build_image: true
-provisioner:
-  name: ansible
-  inventory:
-    hosts:
-      all:
-        vars:
-          ansible_user: root
-verifier:
-  name: ansible
-scenario:
-  name: legacy
-  test_sequence:
-    - lint
-    - destroy
-    - syntax
-    - create
-    - converge
-    - idempotence
-    - side_effect
-    - destroy
diff --git a/tasks/main.yml b/tasks/main.yml
index 1800aa4..1f95c5c 100644
--- a/tasks/main.yml
+++ b/tasks/main.yml
@@ -28,17 +28,7 @@
 - name: decide whether to support audio streaming
   set_fact:
     # Audio streaming requires Janus because MJPEG can't carry audio.
-    # We exclude audio support from Raspbian Buster (10) because it's
-    # technically possible for a Raspbian Buster system to stream audio with CPU
-    # video encoding, it's unlikely for any clients to want that, and we don't
-    # want to add extra dependencies for audio they won't use. Raspbian Buster
-    # can't do GPU-based (OMX) encoding with audio because uStreamer added audio
-    # support in 5.x, but 5.x dropped support for OMX.
-    ustreamer_enable_audio_streaming: "{{
-      ustreamer_install_janus and not (
-        ustreamer_is_os_raspbian
-        and ((ansible_distribution_major_version | int) <= 10)
-      )}}"
+    ustreamer_enable_audio_streaming: "{{ ustreamer_install_janus }}"
 
 - name: install Janus
   include_tasks: install_janus.yml
@@ -76,10 +66,6 @@
   import_tasks: check_saved_settings.yml
   when: ustreamer_settings_file_result.stat.exists | bool
 
-- name: check if OS supports OpenMAX IL acceleration (OMX)
-  set_fact:
-    ustreamer_os_supports_omx: "{{ ustreamer_is_os_raspbian and ((ansible_distribution_major_version | int) <= 10) }}"
-
 - name: configure TC358743 HDMI capture chip
   import_tasks: provision_tc358743.yml
   when: ustreamer_capture_device == 'tc358743'
@@ -88,17 +74,6 @@
   import_tasks: remove_tc358743.yml
   when: ustreamer_capture_device != 'tc358743'
 
-- name: enable OpenMax IL acceleration (legacy)
-  set_fact:
-    ustreamer_compile_omx: >-
-      {{ (ustreamer_encoder != None and ustreamer_encoder.lower() == 'omx') or
-          (ustreamer_install_janus and ustreamer_os_supports_omx) }}
-
-- name: check that OpenMax IL acceleration is only compiled on Raspberry Pi OS 10 (Buster) and earlier
-  fail:
-    msg: OpenMax IL acceleration (OMX) is only available on Raspberry Pi OS 10 (Buster) and earlier.
-  when: ustreamer_compile_omx and not ustreamer_os_supports_omx
-
 - name: collect universal required apt packages
   set_fact:
     ustreamer_packages:
@@ -118,11 +93,6 @@
     ustreamer_packages: "{{ ustreamer_packages }} + ['libasound2-dev', 'libspeex-dev', 'libspeexdsp-dev', 'libopus-dev']"
   when: ustreamer_install_janus and ustreamer_enable_audio_streaming
 
-- name: install libraspberrypi-dev if we're using OpenMax IL acceleration
-  set_fact:
-    ustreamer_packages: "{{ ustreamer_packages }} + ['libraspberrypi-dev']"
-  when: ustreamer_compile_omx
-
 - name: collect Debian-specific required apt packages
   set_fact:
     ustreamer_packages: "{{ ustreamer_packages }} + ['libjpeg62-turbo-dev']"
@@ -184,7 +154,6 @@
   make:
     chdir: "{{ ustreamer_dir }}"
     params:
-      WITH_OMX: "{{ ustreamer_compile_omx | int }}"
       WITH_JANUS: "{{ ustreamer_install_janus | int }}"
   notify:
     - restart uStreamer
diff --git a/tasks/provision_tc358743.yml b/tasks/provision_tc358743.yml
index d166142..53084e2 100644
--- a/tasks/provision_tc358743.yml
+++ b/tasks/provision_tc358743.yml
@@ -66,11 +66,6 @@
     - load TC358743 EDID file
     - configure TC358743 EDID loader to run at boot
 
-- name: default to legacy OpenMAX encoder on Raspbian 10 and earlier
-  set_fact:
-    ustreamer_encoder: "{{ 'omx' if ustreamer_encoder == None else ustreamer_encoder }}"
-  when: ustreamer_is_os_raspbian and ustreamer_os_supports_omx
-
 - name: use custom settings for TC358743 chip for any facts not already defined
   set_fact:
     ustreamer_encoder: "{{ 'm2m-image' if ustreamer_encoder == None else ustreamer_encoder }}"