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The tape has like foam stuff .When you take off the tire you will see the stuff on the rim and tire. The glue is just glue. If it is glue. You don't need to clean it off. Park tools has a how to replace tubbies lesson.
Good luck Thom
Actually, it depends on whether you used the extreme or standard Tufo tape. Both when installed correctly leave the tape stuck to your tire. The standard tape doesn't seem to leave as much residue on your rim. The extreme tape definitely leaves a sticky residue on your rims as well.