Spray undercoating with Goo Gone - Automotive Goo & Sticker Remover.
Make sure it is this type of Goo Gone, sometimes hard to find.
Spray on a thick coat, walk away, come back in a few hours spray again, walk away, repeat if you can, come back 24 hrs later.
It will appear dried out and normal when you return, but will scrape off with ease.
Definitely better when spraying down instead of up, or covering with saran wrap after, keeps it wet and helps it soak in better, but not always possible and it scrapes off as a wet black goo this way.
I used it many times and was always surprised, especially the first time when I had to walk away, came back the next day and it looked all dried out. I thought, what a waste of $ and now I have to spray again, but it came off dry and was so easy to clean up.