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The default mapping of SPC in minibuffer is (self-insert-command N). However, I prefer SPC to simply type a single space (for instance, in passing arguments to environments and commands within AuCTeX). Is there a way of unmapping SPC in the minibuffer, and remapping it to ?

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No problem. Just bind SPC to self-insert-command in the minibuffer keymaps.

There are several such maps, depending on your Emacs version:

minibuffer-inactive-mode-map     minibuffer-local-completion-map  
minibuffer-local-filename-completion-map minibuffer-local-filename-must-match-map 
minibuffer-local-isearch-map     minibuffer-local-map             
minibuffer-local-must-match-filename-map minibuffer-local-must-match-map 
minibuffer-local-ns-map          minibuffer-local-shell-command-map 

But some of them inherit from others, so you can just bind the key in the parents. Start with minibuffer-local-completion-map. Probably that is the only one you need, but if not then try also minibuffer-local-must-match-map. Those are the two completion maps.

(define-key minibuffer-local-completion-map (kbd "SPC") 'self-insert-command)

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