I've been detailing our cars for years. The reward is you always feel like you're driving a brand new car even if it's many years old. (I'm retired and detailing our cars is one of my hobbies.)
First, I hand wash using car wash soap and synthetic lambs wool mitts. A lot of water in large beads stays on a well waxed car so I initially dry it using a car detailing squeegee made of soft silicone, followed by a microfiber cloth. I hand wash the door jambs and painted surfaces under the hood with a microfiber rag and the wheels with a sponge, then use No Touch on the tires.
I move the car into the garage and, twice a year, clay bar the car using a Meguiars clay bar kit. It is so quick and easy that doing the whole car takes no time at all. The clay bar leaves the paint smooth as can be.
I let the paint cool on hot days before applying 3M sealant (no rubbing compound) #39026 or #39030. This 3M product chemically bonds with the paint and leaves a long-lasting shine and Teflon-like very slick finish. I "wax" all painted surfaces, chrome trim and shiny plastic including headlights and taillights this way. Once a year, I "wax" the wheels, door jams and painted areas under the hood. If time permits, I let the car sit in the garage so that the sealant can "cure" overnight and then apply a second coat the next day, letting it cure another 12 - 24 hours.
One benefit of the 3M sealant is dirt doesn't stick to it. I've driven over dusty and muddy roads and trails all morning, then driven home in the rain and, the next day, the car looks almost like I'd just washed it. I get this 3M sealant on Amazon as it isn't often available in stores.
We have an old canister vacuum in the garage and I like to get the carpets totally clean, scrub the all weather mats with a stiff bristle brush and wipe down the interior with a wet microfiber cloth. The windows and mirrors get cleaned with SprayWay aerosol (from Costco) and a blue surgical cloth. Then, voila, your car looks better than new.
I can't tell you how often our friends and neighbors have asked if they can get on the list to buy our used cars. But the main benefit is you get "new car" enjoyment driving a super clean car. And, IMO, you drive better in a clean car.