Best way I have found is to keep a rag and bottle of water in the trunk, so after traveling (any distance, especially highway or at night), just wipe them off with a little water. If you keep the front waxed, they easily come off after driving, if you leave them for more than a day, they are very hard to remove.
I prefer this versus any chemical cleaners, it may be a pain, but I do it about everywhere I go, but it pays off in the long run. People may make fun of you, but its your car!
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