depends on what type of dirt it is. Cigarette smoke is a right royal PITA to shift.
I use Brisk Autofoam (Autosmart) and agitate it with a brush with varying degrees of success.
Early vinyl headlining is a darn site easier to clean than some of this fabric stuff.
Very hard to get a VAX machine onto it, but it will work in a fashion but not very well.
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