This would depend on Arizona law. In California, a Certificate of Rehabilitation would do it. You would have to contact Arizona attorneys to see if they have something similar.
A person cannot get a Certificate of Rehabilitation in CA for most sex offenses. See PC 4852.1(d) which provides in part "This chapter shall not apply to persons serving a mandatory
life parole, persons committed under death sentences, persons convicted of a violation of subdivision (c) of Section 286, Section 288, subdivision (c) of Section 288a, Section 288.5, or subdivision (j) of Section 289," These people must obtain a direct pardon from the governor to escape registration.
In your case since the crime was committed in AZ, AZ procedures would apply.