I use Quantum upholstery cleaner from TPS, partly because it smells of bakewell tart instead of vomit and hospitals like most of them do, but also because its very effective.
For the actual headlining I'll mist it on and wipe off very gently with a freshly washed microfibre as the foam in the headlining is quite delicate so any sort of pressure will ruin it. The pillar trims are much more robust and can take some light agitation with a nailbrush and then a wipe with a microfibre will lift most dirt out. Again, mist it on rather than soaking as the glue could come undone. Same goes for the rear deck.
Its obviously much easier on the bench, but I wouldn't take one out just to clean it as there is a high risk of damage.
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