I had the same thing happen to my Xterra. Rusty water from overhead pipes in the parkade dripped on the hood, and dried leaving a residue. Could not remove it with soap and water. The hood was covered in Xpel film … so I applied film protectant (… similar to liquid car wax), allowed it to haze and then buffed it off. The rust residue disappeared once the hood was buffed. I expect the solvent in the film protectant dissolved it. So, you might try applying a light coat of wax to the affected areas, and buffing the stain out.
The only other thing that I can think of is to apply a bit of CLR (calcium lime rust) remover to the affected areas … but dilute it with water so it's not full strength … allow it to work for a few minutes, and then wash the area with soap and water. That said, I'd try the "wax option" first since it worked for me. If you decide on the CLR option, be aware that it is an aggressive cleaner … so you'll need to dilute it (perhaps in stages) before applying.
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