I would get yourself a nice round detailing brush and some interior cleaner, pray the cleaner, agitate with the brush and it'll all clean right out.
Loose dirt and dust I vacuum up with a brush attachment, or you can always blow it out with compressed air.
2017 Chrysler Pacifica Limited. Velvet Red with Black/Diesel Interior
Advanced Tech, uConnect Theatre, 20" Wheels
2017 Lexus LS460L. Liquid Platinum with Black/Shimamoku Interior