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If you can apply heat and just peel them off in one piece, that would be the obvious choice, but if not, the eraser wheel will take it off in about the time it would take to buff the area with a buffer. Yeah, you have to wipe the residue off with a soft cloth, but that's about it...
I worked in a body shop for a long time,I always used a heat gun on low to get the vynal part of the decal off, the used Easy Off Oven cleaner to get the glue off.It worked fast and didnt harm the clearcoat.Spray on,let sit for 15-20 sec and the glue will wipe right off.Rinse afterwards with water.
It is a harsh chemical,however it doesnt in anyway affect the clearcoat.the clear coat isnt porus enough for it to get through or something lol. Ive used it on hundreds of vehicles and never had a problem.It was actually recommended to me by a decal\bodywrap company when thier customers want them removed.