How can I get rid of the the category suffix–NOT “prefix” (i.e. foo-1, foo-2, etc)

Go into the trash from the category list and hit “Empty Trash”.

As long as the category is in the trash, the slug is considered ‘in use’.

ETA: This is obviously not right, as there’s no trash in categories. Instead, using phpMyAdmin, go to database->wp_terms, and delete the row with the category information.

Walkthrough here.