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3rd Gen Ram Tech2002-2008 Rams: This section is for TECHNICAL discussions only, that involve the 2002 through 2008 Rams Rams. For any non-tech discussions, please direct your attention to the "General discussion/NON-tech" sub sections.
Try goo gone then use a rubbing compound to get the remainder and hit it with a coat of wax!!! DO NOT use acetone, kerosene, gas or lighter fluid! These will cause damage to your clear coat!!!!!!! What ever you do don't start picking at it let the goo gone soak in it might take a few minutes but trust me it will work and at will not hurt your paint!
I vote for picking off as much as you can, then move to a bug/tar remover and see where that gets you. for a final pass i would say clay bar it. that should shear off any of the remaining spray foam and then hit it with a couple coats of wax.