diff --git a/bindings/pydrake/multibody/BUILD.bazel b/bindings/pydrake/multibody/BUILD.bazel
index 156e1c132da8..17e7bbe2ffb1 100644
--- a/bindings/pydrake/multibody/BUILD.bazel
+++ b/bindings/pydrake/multibody/BUILD.bazel
@@ -1,4 +1,3 @@
-load("@python//:version.bzl", "PYTHON_SITE_PACKAGES_RELPATH")
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
 load("//tools/install:install.bzl", "install", "install_files")
 load("//tools/jupyter:jupyter_py.bzl", "drake_jupyter_py_binary")
@@ -18,10 +17,6 @@ load(
     "get_drake_py_installs",
     "get_pybind_package_info",
 )
-load(
-    "//tools/workspace:cmake_configure_file.bzl",
-    "cmake_configure_file",
-)
 
 package(default_visibility = [
     "//bindings/pydrake:__subpackages__",
@@ -298,24 +293,6 @@ drake_jupyter_py_binary(
     ],
 )
 
-cmake_configure_file(
-    name = "generate_run_installed_mesh_to_model",
-    src = "run_installed_mesh_to_model.py.in",
-    out = "run_installed_mesh_to_model.py",
-    defines = [
-        "PYTHON_SITE_PACKAGES_RELPATH=" + PYTHON_SITE_PACKAGES_RELPATH,
-    ],
-)
-
-cmake_configure_file(
-    name = "generate_run_installed_fix_inertia",
-    src = "run_installed_fix_inertia.py.in",
-    out = "run_installed_fix_inertia.py",
-    defines = [
-        "PYTHON_SITE_PACKAGES_RELPATH=" + PYTHON_SITE_PACKAGES_RELPATH,
-    ],
-)
-
 install_files(
     name = "install_wrapper_scripts",
     dest = "bin",
@@ -566,7 +543,7 @@ drake_py_unittest(
 
 add_lint_tests_pydrake(
     python_lint_extra_srcs = [
-        "run_installed_mesh_to_model.py.in",
-        "run_installed_fix_inertia.py.in",
+        "run_installed_mesh_to_model.py",
+        "run_installed_fix_inertia.py",
     ],
 )
diff --git a/bindings/pydrake/multibody/run_installed_fix_inertia.py.in b/bindings/pydrake/multibody/run_installed_fix_inertia.py
similarity index 78%
rename from bindings/pydrake/multibody/run_installed_fix_inertia.py.in
rename to bindings/pydrake/multibody/run_installed_fix_inertia.py
index 63b24164bd7d..f6d2e66e751a 100755
--- a/bindings/pydrake/multibody/run_installed_fix_inertia.py.in
+++ b/bindings/pydrake/multibody/run_installed_fix_inertia.py
@@ -12,7 +12,8 @@ def main():
     # Ensure that we can import pydrake, accommodating symlinks.
     prefix_dir = dirname(dirname(realpath(__file__)))
     assert isdir(join(prefix_dir, "bin")), f"Bad location: {prefix_dir}"
-    site_dir = join(prefix_dir, "@PYTHON_SITE_PACKAGES_RELPATH@")
+    version = f"{sys.version_info.major}.{sys.version_info.minor}"
+    site_dir = join(prefix_dir, f"lib/python{version}/site-packages")
     sys.path.insert(0, site_dir)
 
     # Execute the imported main.
diff --git a/bindings/pydrake/multibody/run_installed_mesh_to_model.py.in b/bindings/pydrake/multibody/run_installed_mesh_to_model.py
similarity index 78%
rename from bindings/pydrake/multibody/run_installed_mesh_to_model.py.in
rename to bindings/pydrake/multibody/run_installed_mesh_to_model.py
index 9aa53bfc71ec..057cf16f6e3f 100755
--- a/bindings/pydrake/multibody/run_installed_mesh_to_model.py.in
+++ b/bindings/pydrake/multibody/run_installed_mesh_to_model.py
@@ -12,7 +12,8 @@ def main():
     # Ensure that we can import pydrake, accommodating symlinks.
     prefix_dir = dirname(dirname(realpath(__file__)))
     assert isdir(join(prefix_dir, "bin")), f"Bad location: {prefix_dir}"
-    site_dir = join(prefix_dir, "@PYTHON_SITE_PACKAGES_RELPATH@")
+    version = f"{sys.version_info.major}.{sys.version_info.minor}"
+    site_dir = join(prefix_dir, f"lib/python{version}/site-packages")
     sys.path.insert(0, site_dir)
 
     # Execute the imported main.
diff --git a/bindings/pydrake/visualization/BUILD.bazel b/bindings/pydrake/visualization/BUILD.bazel
index 41a412b26e3e..0c66d6d6d7d3 100644
--- a/bindings/pydrake/visualization/BUILD.bazel
+++ b/bindings/pydrake/visualization/BUILD.bazel
@@ -1,4 +1,3 @@
-load("@python//:version.bzl", "PYTHON_SITE_PACKAGES_RELPATH")
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
 load("//tools/install:install.bzl", "install", "install_files")
 load(
@@ -13,10 +12,6 @@ load(
     "get_drake_py_installs",
     "get_pybind_package_info",
 )
-load(
-    "//tools/workspace:cmake_configure_file.bzl",
-    "cmake_configure_file",
-)
 
 package(default_visibility = [
     "//bindings/pydrake:__subpackages__",
@@ -91,24 +86,6 @@ drake_py_library(
     deps = [":visualization"],
 )
 
-cmake_configure_file(
-    name = "generate_run_installed_meldis",
-    src = "run_installed_meldis.py.in",
-    out = "run_installed_meldis.py",
-    defines = [
-        "PYTHON_SITE_PACKAGES_RELPATH=" + PYTHON_SITE_PACKAGES_RELPATH,
-    ],
-)
-
-cmake_configure_file(
-    name = "generate_run_installed_model_visualizer",
-    src = "run_installed_model_visualizer.py.in",
-    out = "run_installed_model_visualizer.py",
-    defines = [
-        "PYTHON_SITE_PACKAGES_RELPATH=" + PYTHON_SITE_PACKAGES_RELPATH,
-    ],
-)
-
 install_files(
     name = "install_wrapper_scripts",
     dest = "bin",
@@ -256,8 +233,8 @@ drake_py_unittest(
 
 add_lint_tests_pydrake(
     python_lint_extra_srcs = [
-        "run_installed_meldis.py.in",
-        "run_installed_model_visualizer.py.in",
+        "run_installed_meldis.py",
+        "run_installed_model_visualizer.py",
         "test/visualization_install_tests.py",
     ],
 )
diff --git a/bindings/pydrake/visualization/run_installed_meldis.py.in b/bindings/pydrake/visualization/run_installed_meldis.py
similarity index 78%
rename from bindings/pydrake/visualization/run_installed_meldis.py.in
rename to bindings/pydrake/visualization/run_installed_meldis.py
index 7f391b1d8985..6df83b429017 100755
--- a/bindings/pydrake/visualization/run_installed_meldis.py.in
+++ b/bindings/pydrake/visualization/run_installed_meldis.py
@@ -12,7 +12,8 @@ def main():
     # Ensure that we can import pydrake, accommodating symlinks.
     prefix_dir = dirname(dirname(realpath(__file__)))
     assert isdir(join(prefix_dir, "bin")), f"Bad location: {prefix_dir}"
-    site_dir = join(prefix_dir, "@PYTHON_SITE_PACKAGES_RELPATH@")
+    version = f"{sys.version_info.major}.{sys.version_info.minor}"
+    site_dir = join(prefix_dir, f"lib/python{version}/site-packages")
     sys.path.insert(0, site_dir)
 
     # Execute the imported main.
diff --git a/bindings/pydrake/visualization/run_installed_model_visualizer.py.in b/bindings/pydrake/visualization/run_installed_model_visualizer.py
similarity index 76%
rename from bindings/pydrake/visualization/run_installed_model_visualizer.py.in
rename to bindings/pydrake/visualization/run_installed_model_visualizer.py
index 977838cb417b..b88d3bf90612 100755
--- a/bindings/pydrake/visualization/run_installed_model_visualizer.py.in
+++ b/bindings/pydrake/visualization/run_installed_model_visualizer.py
@@ -12,7 +12,9 @@ def main():
     # Ensure that we can import pydrake, accommodating symlinks.
     prefix_dir = dirname(dirname(realpath(__file__)))
     assert isdir(join(prefix_dir, "bin")), f"Bad location: {prefix_dir}"
-    site_dir = join(prefix_dir, "@PYTHON_SITE_PACKAGES_RELPATH@")
+    version = f"{sys.version_info.major}.{sys.version_info.minor}"
+    site_dir = join(prefix_dir, f"lib/python{version}/site-packages")
+    sys.stdout.flush()
     sys.path.insert(0, site_dir)
 
     # Execute the imported main.
diff --git a/tools/workspace/stable_baselines3_internal/BUILD.bazel b/tools/workspace/stable_baselines3_internal/BUILD.bazel
index e4efa4d7f73e..5828dceceb58 100644
--- a/tools/workspace/stable_baselines3_internal/BUILD.bazel
+++ b/tools/workspace/stable_baselines3_internal/BUILD.bazel
@@ -1,14 +1,8 @@
-load("@python//:version.bzl", "PYTHON_VERSION")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:drake_py.bzl", "drake_py_unittest")
 
 drake_py_unittest(
     name = "stable_baselines3_internal_test",
-    # DrakeGym is only supported for Python >= 3.10.
-    tags = ["manual"] if PYTHON_VERSION in [
-        "3.8",
-        "3.9",
-    ] else [],
     deps = ["@stable_baselines3_internal//:stable_baselines3"],
 )