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FOLEX cleaner you can get it at Home Depot. Its works great. Its a carpet and upholstery cleaner. I have kids and it has worked to get their food and hand prints off of mine. Just don't rub too hard makes the material fuzzy.
I use a vapor steamer. Ammo NYC on YouTube solves many problems and has a great series on cleaning your vehicle. In this video he covers unwanted marks in a head liner. The steamer I purchased is by McCullough and is reasonably priced for the home owner.