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Try a heat gun/hair dryer and stiff bristle brush with soap and water as hot as you can stand it. Tjhat might take off the bulk.
For the residue I wouldn't use "goo gone" as it's oil based and the concrete will absorb it, try "goof off". That is not petrol based. Get the one with sprayer applicator.
Of course if you're not worried about how it looks a grinder with a wire brush should work very well but that is going to be very dusty.
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