Depending on just how stuck on it is, there are two things we used to do back at the shop. If it won't come off with any cleaners and is really on there good, we would do a wet sand with VERY fine grit paper, or use a fine cut cleaner. We'd follow it up with some medallion afterwards, and then either meguiars hand polish or swirl remover.
Or, you could try Meguiars Scratch-X
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