This appears to be an ornamental elderberry. Check out this website to see and example of https://growersoutlet.com/Plant_Info/Edibles/Sambucus/Sambucus_Golden_Tower.pdf

I'm not sure on the exact cultivar, but based on your description it could be this one. It may have gotten to your site by bird seed dispersal. 

If you wish to remove it you can cut it down or pull it out as planned. While I am unaware of any concerns with contacting elderberry, people can be allergic or get rashes from a wide variety of plants. If you're concerned about skin irritation, consider wearing gloves, pants and long sleeves. 

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