I just clean ours from inside the camper. I vacuum the screen and the cloth and then use a mild cleaner on a damp cloth if needed for any heavy dirt on the fabric. Make sure that the cloth has a chance to dry thoroughly before putting away.
Note that the rear bunk ends on ours can be cleaned from outside as well as the screen also has a zipper (emergency exit). You can zip open the screen and then clean the fabric underneath. The ends are sunbrella (sides are canvas) so I can go a little heavier with the cleaning juice there.
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2011 Jayco X19H (purchased 2015)
2008 Jayco 1007 PUP (purchased new, traded for the X19)
2018 Nissan Titan Midnight Ed.
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