Hello, and welcome to the Forum!
You might get many suggestions from some of the members here. Some may be sound methods of cleaning, but here's my take.
That this has been the bane of many wipe on wipe off waxes and sealants for donkey's years. How to then get to residues out of the cracks, crevices, around and within Badges, Seams, etc.
I know well from experience that any sort of physical rubbing, or the use of tools like Detailing Brushes, Toothbrushes, or harsh cleaners and scrubs will more than likely cause marring, scratching of the paint and damage to the Decals as well.
That leaves another method then, some other form of chemical removal. But what?
The theme will be to use something as gentle as possible, and to use gentle physical means.
Now some might say a prep cleaning agent, maybe something like Carpro Eraser, which is a gentle diluted Alcohol base cleaner used to prep surfaces prior to applying Ceramic Coatings. This might work without causing any damage to paint or decals.
What I myself might be more inclined to try, would be what we folks here call a WOWA Sealant (Wipe On Walk Away). These products are generally crystal clear fluids which contain polymers, but contain no abrasives or detergent cleaners, they leave basically no residues behind after use. I've come to love many of these types of products for their ease of use in areas where the wipe on wipe off products prove problematic, like Door Jambs, Trunk and inside Hood detailing, and any other areas that might prove difficult with cruds left behind.
I am maybe thinking to perhaps use with a new small applicator pad, either Microfiber, or Foam, and to let the carrier solvents in these relatively safe to decals products gently dissolve and remove these residues you experience.
I myself would rather try this first, than go to a more harsher method or product.
Such products I might suggest would be Ultima Paint Guard Plus, Optimum Opti-Seal. There's probably some others I'm forgetting.
If I'm wrong with such suggestions, then other members please correct me.
For sure, these two I mention above will not scratch or damage the paint or decals.
