I've found that slowly heating up the vinyl with a blow dryer can really help. The heat helps deteriorate the bond of the glue and should allow you to peel off most stickers with your fingernails. Any cleaning product should get rid of any remaining residue.
I had a company logo on the 08 Element we recently sold and it came off without any issue after being there for a year. You shouldn't have too much of an issue.
Just be careful, take your time and don't get anything too hot, lest you burn yourself or somehow mar your paint.
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