Most high-traffic areas of rubber are removable/cleanable... the rubber inside the front-seat door-pull cavities, the cup holders, the storage slot (on the Limited) by the USB/Aux jacks, etc... they tend to make those things removable nowadays. I like that a LOT. When cleaning the car, I first grab all the removable rubber parts and toss them in the kitchen sink with warm, soapy water ... clean all the rubber and let air-dry while I go back out and clean the rest of the car.
Using paper towels or even regular towels can leave too-much LINT on the rubber if you try to manually dry them.
"I'll procrastinate later..."