The Autoglym stuff normally works fine for me. I hoover the seats etc first and then damp the fabric slightly, then use a soft scrubbing brush to work the shampoo in, damp cloth to wipe off the grime and a bucket of warm water for lots of rinsing out. Change the water for each panel you do to prevent transferring any muck accidentally.
Headlining are the biggest pain I find, but Autoglyym shifts shoe polish so it's my first choice.
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