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I've always used a synthetic "toothpic". Not sure what they're actually called, but basically they're a disposable plastic dental hygene tool (similar to a toothpic). The tip of it tapers to much smaller than that of a pin or a needle, yet has quite a bit of strength because it's plastic.
That and a set of head-mounted magnifying visors is what I use to clean the hair and crud out of the front axles.
Most of my problems (on the old Zaps anyways) is metal particles collecting under the steering magnets (as most of my driving is on the concrete driveway in front of my house). I just use a long fine bristle brush to remove them (as well as dusting off the rest of the chassis).
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