A nice solution
I use an APC (generally a really diluted simple green type of product) and then I use a short bristle brush with medium stiffness bristles. This has been one of the things that has made interiors look a lot better for me. Getting those scuffs out and even dirt within the grain is a nice touch. Try using a short bristle brush, you want to get into the grain and scuff mark, this is the trick and I have never scratched an interior panel using a brush of this nature. For those that would like, I use the red handled interior brush that is sold on this site and it works GREAT!
-Matt