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I think people pull the whole seatbelt out of the car then close the door keeping the metal part in the car obviously.
Then spray generously with APC leave to soak, then give it a scrub then jet wash it off.
Usually a job for the summer as the belts take a while to dry!
Most of the dirt will be on the end of the belt (where the clip is). I unbolted the loop end only, not the rolled bit and dragged them out of the car fully, power washer and a little soap and the job was done. mine were scanking but look new now.