+1 for Wheel Woolies. Not cheap but IMO they’re worth the cost and should last a long time if properly cared for. I’ve had mine now for around three years and they’re still going strong and look almost as good as they did when new.
The soft pile heads mean there’s minimal risk of inflicting scratches or swirls to your wheels, provided you take a little time to rinse out any trapped grit and dirt thoroughly after each use (I clean mine out in a bucket of clean water, squeeze them dry, shake out any remaining water and then hang them up to air dry - I hang mine on the washing line in the many Wo-Wo mesh bags I have.
I also use a small soft bristle detailing brush for the fiddly bits on my wheels.