I'm very particular about my paint...I have always had really good results cleaning the car like normal, and then going over the rubber spots with the same wax/sealant I normally use on the car (Ammo Skin in my case). I don't have PPF or ceramic coating.
I found the idea here he starts talking about it at the 4:30 mark
I've never had to heat it up like he does in the video, and I've never had to use more than normal pressure. I used a foam applicator pad, instead of microfiber like he does.