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Soak some kitchen roll in it and leave it sitting on top of the residue instead of going scrubbing at it and ending up marring the paint. Leave it 4-5 minutes (but don't let it dry out) and you'll be good to go.
Recently cleaned off loads of tape off my impreza.. masking tape , parcel tape and electrical tape.. All had been baked in the sun over 4 years..
I found T CUT was the best stuff I used.. cover the tape and leave for half hour.. come back and you have to get friction to do the rest.. I had the biggest blister on my finger after rubbing it off.. only way it worked though.. tar removal stuff and brake cleaner and white spirit did very little.. was impressed with t cut.. but the car needs a good polish to finish it off.
Hope that helps you