I use Adam’s tire and rubber cleaner and this tire brush and have had good results. I’m not sure it would be effective without a little agitation from the brush though. I finish them with Ammo NYC mud.
I usually wash my wheels when they are off the car where it’s easier to be precise and not touch the wheels with the brush.
I haven’t compared to the other products mentioned.
https://adamspolishes.com/products/a...rubber-cleaner
https://www.amazon.com/Brush-Bristle.../dp/B07V9FK7CT
https://ammonyc.com/products/ammo-mud-tire-gel