I use a low-fat soap in small quantities and it works well

Ecovacs D-KT01-0027 (1 -part)

this kit contains the right cleaner

That cleaner is for glass robots, I put a simple neutral cleaner a few drops or a non-rinsing cleaner that does not foam.

I only use that. It's expensive, but I prefer it because of the guarantee and function.
It doesn't work miracles, but used every day it does the job (except for dry spots like iced tea or other).