A friend took his seats to his 02 Maro to a car wash and soap and rinse sprayed them clean and then used a shop vac to suck out the water and let them dry a couple days. You may not want to try this, just throwing it out there. It worked well for him. Had the foam off like you do, kept a good distance between the spray and the foam so it didn't tear it up and the seats looked brand new by the end of the week when we put them back in.

His didn't have heat warmer, so keep that in mind, wetness hurts electronics.