For a properly maintained interior, a damp MF works well. Try to avoid APC because they usually have a high pH. TOL sells a dedicated interior cleaner that can be dilluted for different soiling.
If the interior isn't too dirty, Meguiars Quick Interior Detailer works well. It cleans and even has a small amount of UV protectants in it (not enough to act as a stand alone, though).
I use Griot's Interior Cleaner for maybe 95% of such work. Right off hand I can't remember using anything else to clean interiors since forever, with the exception of some stuff I run through the extractor. Between the Griot's and the steamer that's pretty much all I need unless I'm doing some heavy-duty carpet extraction so IMO it's exactly what you're after.