A Darwinian tubercle on the ear needs to be removed surgically. Whenever an incision is made, a scar will form. So, it cannot be removed without a scar, but it can be removed to hide the scar so that it is not noticeable.
A small quarter inch incision is usually all that is necessary from behind the ear to go in and remove the Darwin tubercle. This is a simple procedure done under local anesthesia. A small inconspicuous scar on the back of the ear is all that will be required.