I've been spritzing that stuff on my tires and wheels for a long time, straight out of the bottle, but then rinsing it off almost immediately with the high-pressure spray. It's strong; when I used it once full strength in the bathtub to clean rubber floor mats, the fumes really got to me. Now I water it down if I use it indoors.This is what I use to clean tires, diluted with water 1:1 -
Does a great job, and as long as you don't use it too strong or let it dwell for too long, it doesn't seem to hurt the rubber.
I have also used Meguiar's D101 APC, diluted 1:3 with water.