Update:
After erika posted the info on Citra-Solv Concentrate, I went looking for it locally. The Citra-Solv web site has a store-finder which identified two local grocery store chains as carrying their products but that turned out to be true only for their larger stores. Also, the trick is to check the organic and natural products aisles, not the cleaning products aisles. And as erika notes-- you want the concentrate, not the spray as it's too diluted to be effective.
I found the Citra-Solv worked well though I did have to be extra-careful with the tippy little bottle. I found it more convenient to transfer it to an old spray bottle so I wouldn't accidently spill and so I could spray on instead of wipe on.
The Citra-Solv works a bit differently than the 3M Adhesive Remover. The former produces some glue 'fur-balls' (see below) while the latter just seems to keep dissolving a bit of the glue on each cleaning pass.
Having tried both products, I think the 3M one edges out the Citra-Solv in effectiveness and ease of application but the smell of the 3M one is very strong and, in fact, dizzying in a confined space. Neither product damages the vinyl but the 3M product will take the paint off the aluminum siding.
Both products were effective on the interior stitching and on clear, sticky glue spots like this on the exterior:
Neither product was effective on old dried-up stains like this on the exterior:
A few months have passed since I first did the cleanup. We've had a very hot summer here and I'm not surprised to find I need to do another round. The interior stitching merely has a bit of a tacky feel and I'm not seeing staining on the ceiling or bed. On the outside I have a few small clear-and-sticky spots I know will come off fairly easily. All I can do is keep at it and hope to run out of glue!
-Old Crow
PS- I also considered trying to block the flow of glue by gluing down the edges of the exterior velcro with a higher-temp glue (VLP). I only tried it on a short stretch but it didn't go well so I bailed.