$jprp = Jetpack_RelatedPosts::init();
remove_filter( 'the_content', array( $jprp, 'filter_add_target_to_dom' ) );
Should work fine. The Jetpack_RelatedPosts init function implements the singleton pattern, so calling it will return the already instantiated instance, which you can use to remove the filter.
Just make sure you call your code late enough. The main module is hooking the add_action to functions coming from the ‘wp’ action hook, so you need to hook after that. The ‘plugins_loaded’ and ‘init’ hooks would be too early. You could hook to the ‘wp’ action yourself, with a priority of greater than 10 and that should do the trick.
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