I would start with a clay bar. If this doesn't work (I've never used it to remove rubber), I'd go with something like 3M Adhesive and Wax Remover. The 3M is clearcoat safe, and works well. If you go with another brand, double check that it is clearcoat safe. Either one of these methods should work. If not, you may have to go to a cleaner/polish (Meg's #9 SMR being mild up to Meg's #83 DACP being more aggressive). Start mild, and work your way more aggressive only if needed.
Whatever method you use (I listed them in order I'd go), re-apply wax/sealant to the area when finished as all the above methods can/will strip existing wax/sealants.
Dave