Taking it off just to wax is a bad idea, it is mounted on a spongy adhesive pad substance that would not work well in reuse. If you really want to do it, get another fresh logo to replace it with.
Griot's Garage sell Boar's hair detailing brushes that come in a set of three. They're excellent quality, great for that kind of work and won't harm your paint.
I'm just glad I'm not the guy who plucks the hair out of the Boars