3M "PerfectIt II" rubbing compound. It's in a black bottle, probably $30/quart.
This stuff is just a liquid miracle. it cleans, it brightens, it protects, all without rubbing til your arm falls off.
There's no need to wait for it to "haze over" before wiping off. How awesome is that? goes on gooey, comes off gooey.
I and two buddies used this stuff on a bayliner (hey, I owed a favor) that hadn't seen so much as a hose-down in three years. In 45 minutes, we had that Bayliner Blue shining pretty again. oxidation, scuffs, chafemarks, all gone.
Last week the wifey had to leave her car in the parking garage overnight (afternoon bomb scare evacuated the building so she just hopped a ride home with me) on the night they repainted the lines...... oh yeah, ALL OVER THE CAR. This 3M stuff made really short work of it a few days later.