Following limb amputation and targeted muscle reinnervation (TMR), nerves that originally innervated agonist and antagonist muscles are rerouted into one or more residual target muscles. This rerouting profoundly alters the natural mechanical coupling and afferent signalling that normally link muscle groups in intact limbs. Despite this disruption, in this study we demonstrate, using high-density intramuscular microelectrode arrays implanted in reinnervated muscles of three TMR participants, that motor units (MUs) associated with agonist and antagonist tasks remain functionally coupled. Specifically, over 40% of motor units active during agonist tasks were also recruited during the corresponding antagonist tasks, even though no visual feedback on antagonist neural activity was provided. These motor units exhibited significantly different firing rates depending on their functional role. These results provide the first motor-unit-level evidence that the central nervous system preserves coordinated agonist-antagonist control after TMR and inform restorative surgical strategies and prosthetic systems capable of regulating both limb kinematics and dynamics based on agonist-antagonist commands interplay.