3M makes a product specifically for this, doesnt harm paint & will soften up the old glue so you can wipe it off with a rag or usually a little more effort with a old toothbrush or nylon brush. Should be able to just pull off the old W/S or try heat from underside but be careful, too much heat will damage the paint.
I have some of the 3M left and can get the part# if needed.
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