Hi T
It depends on what was used. Most topical coatings can be removed with TYW Heavy Duty Cleaner & Stripper. Actual grout colorants may require a Methylene Chloride-based paint stripper. No fun, to say the least, but it does work.
I like Sunnyside Glue & Adhesive Remover (Methylene Chloride), from True Value Hardware.
Apply to dry surface
Let dwell at least 10 minutes, but no more than 20 (or so)
Pour a little water on it
Scrub with a stiff nylon brush
A little more water
Scrub a bit more
Extract with a wet-vac
Repeat if necessary
A good acid wash after stripping will make it look real nice and open the pores up, so it’s ready for resealing.
I don’t recommend going over existing topical coatings. Your new seal job will only be as good as the old sealers bond. It can flake off.