I have OEM rubber mats in the rear, my kids are mucky buggers and in the front I have OEM carpet mats. I would say, I have washed these in my washing machine with some 'Vanish' and they came out like new. I was very happy, on a 40c gentle wash with low spin then dry them somewhere warm.

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BMW X5 E53 3.0 Diesel Sport | Sapphire Black Dakota Beige Leather interior | Year 2004

What I had updated
Carbon Effect Steering Wheel
Panoramic Sunroof Fix
PVC Replacement
All glowplugs and glowplug regulator
New discs and pads all round
All new front suspension links, bushes and rods