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Here's what works well for me. My brake rotors are steel and the rotors/ brake shields always look brand new...
1) Spray wheels AND brakes with Sonax
2) Lightly agitate with a wheel brush
3) high pressure rinse
4) Immediately drive the car around the block before the steel rotors start to rust. Very limited in time here...
5) Wipe down wheels with microfiber cloth.
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