Who's got the best method of cleaning the inside of the windows of your car?

I don't mean just wipe off some fingerprints. Anyone can do that with a can of windex and a towel. I mean... I want the windows to be completely invisible, with absolutely no trace of any kind of smear or streak.

I've tried all sorts of different products, for years, and haven't found anything that makes them genuinely streak-free. Everything from expensive automotive glass cleaners to plain old soap and water. I might spend hours killing my arms and shoulders after rubbing the insides of the windows (with either real towels or paper towels, doesn't matter), and think they look clean, only to see streaks when the light hits the window "just right".

The best, I think, would be some kind of squee-gee system. But I can't get the squee-gee into the corners and areas near the base of the windshield and rear window. So we're back to the rubbing with towels again...

Surely in this high-tech world, there's got to be something that really works well and is also easy to do?