How do I prevent Google from crawling domains that are not my custom domain?

If it works, it works.
I’d just check the robots.txt by either visiting the /robots.txt url of the generated site, or by downloading the output of a specific build e.g.

There is no way to delete deploy previews, (other than perhaps making a request to Netlify support).

There’s a thread here that you can lend your voice to: