I find simplest way is to use a cotton wash mitt. I find it helps to reach in with your fingers through the mitt getting the little nooks and crannies. And reaching in to get the inside of the rim.
1. Spray on your choice of cleaner.
2. soak mitt with water.
3. reach in to clean.
I do also twice a year when swapping to winters and back to summers clean the rims completely while off the car. This way i can get to back side as well.
Here is what the back side of my 6 year rims off a 135i looked like.
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