I would rent a rug doctor or use a home stema machine to get the stains out of the searts and do the best you can with the carpets. Then I'd park it in the sun with the windows down for a couple days so it could really get dried out.
THEN I would get neoprene seat covers and some new cheapy floor mats from wal-mart- get several sets. The when the kids get the floor mats filthy, toss em in the trash and put new ones down.
Seriously, unless the kids are NEVER going to be in the car ever again, you are fighting a losing battle. Clean up the best you can and then cover it up so they can't make the filth any worse.
just another thought is to try going to one of those car wash places( the fancy ones) that do different levels of detailing, and talk with them about getting out the stains. It cost a couple hundred bucks, but those places really can do wonders. Then, again, put neoprene seat covers on, and floor mats after th extreme detailing.
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