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Most the time a damp towel and a little APC removes any marks. I have also used the Magic Erasers and they work well too, just be careful.
I suggest using Ultima Interior Gard or 303 Protectant for interior and dash. Its a nice dark matte appearance and does not have any silicones that attract and hold dust. The Ultima product even cuts down on the haze you find on glass from outgassing of the dash materials.