I used waxed dental floss (you are really just sawing through a thin layer of foam tape). If you keep rubbing your finger over what's left it will usually start to ball up when it comes off. Goo-gone worked for me to get rid of the residual adhesive but I imagine any lemon-degreaser type dishwashing detergent would do the same.
You can use rubbing compound to clean off any dried wax build-up from where you couldn't get under the edges of the badge in the past (it will be a "ghost" of the emblem outline).
Finish with a quick bit of paste wax and you're done. It's literally a five-minute job from start to finish.
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