Heat gun, yanking, A LOT of patience, a lot of adhesive remover and an adhesive remover ball/wheel for your drill.
Go slow and be careful. I pulled paint off the back of my truck in a couple small spots when I pulled my banner off.
I'm still not sure, but I'm pretty sure the paint under the banner isn't clearcoated like the rest of the tailgate. I know on my truck it's not.
Before:
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IMG_2519
After:
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IMG_3354
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Photo 2014-03-30, 3 07 21 PM