Carpet cleaner with upholstery attachment would be my suggestion.
If you do unzip them and wash them in your washing machine, I'd do it with a cold wash- the covers can shrink with hot and then you couldn't get them back on the foam.
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2007 T-286SR Cherry/Granola, #6236, original owner, current mileage: 9473.8 (as of 6/18/21)
1997 T-2653 Blue Denim, #5471
1979 12 1/2' MC, Beige & Avocado, #4639
Past Sunlines: '97 T-2653 #5089, '94 T-2251, '86 T-1550, '94 T-2363, '98 T-270SR
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