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Cleaning interior door panels. Dog drool stains.

Hi All -
Have crazy drooly golden who loves to stick his head out the window. (Pic below)
And well, he drools on the outside of the car, which is easy to clean on panels, however the inside door panel/trims is a much different game.
I have tried just wiping it with a towel, or even towel w/ some water, however, still leaves stains.
Anyone encountered this and did you do anything to fix it?
Thanks for your input!

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Wet wipes? We get these water based ones from Amazon for our baby's butt. I also carry them in my car. Perfect to clean my hands, wipe up any spills, clean things, etc.


No experience with having a dog in the car, but you could just use the wipes to clean up after each ride. Maybe the drool isn't being cleaned in time and the saliva is kinda of staining the interior?