Re: Cleaning door panels
Clean with a damp soapy terry cloth - wipe with micro fiber and let dry.
I use Mother's Back to Black (just a little and gently rub over scuff marks, let dry - then buff with a micro fiber cloth). I've also used Chemical Guys New Look Trim Gel which works just as well. Remember you just need a little product and then blend into the existing door panel. I'm using this on a Morocco Black leather interior.
On tan door panels I've had good luck with Magic Eraser getting rid of the dark scuff marks relatively easily.
These methods have worked well for me over the years, good luck!