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Steam works great.
I removed mine, mostly by hand---picked up the edges either with a plastic scraper, then pulled. Then I removed the remaining adhesive with 3M General Purpose Adhesive Remover. I tried GooGone first, it would not touch the adhesive. Overall a pretty easy job.
I removed mine the day after I brought it home from the dealer, so there was no "burn in" from the decals at all into the paint.