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Scrubbing bubbles and a microfiber towel. The steering wheel may be beyond cleaning, and worn through... mine was
Might want to hit it all with a vinyl protectant after the scrubbing bubbles. My steering wheel looks the same. Clean, just worn. I've learned to appreciate the "patina"![]()
Regarding the dirt on the door panels, I had the same issue in my Mountaineer with a light gray interior. I used the green scrubber side of a sponge with some Nature's Miracle and it came out spotless (on a 15 year old SUV).