This issue has been bantered around in multiple forums dealing with multiple cars. They are applied by Federal mandate. The glue is rather aggressive. the consensus is removal is fraught with either damage to the underlying fabric or remaining glue that is nearly immune to solvents that won't damage the visor.
The common solution is to get a piece of matching adhesive vinyl, cloth, or a bumper sticker and cover it up.
These eye-sore “semi-permanent” labels had been bugging me since day one. Had looked at YouTube on removal but majority of attempts had left some sort of “damage” to the visor and/or not 100% removal - it continues to bother me soo much that I decided a quick and cheap fix….knowing I could peel them off easily I’d I didn’t like it…..3 weeks later, hands down, I STILL prefer them anytime than the yellow warnings signs that simply don’t belong there.
My quick fix cost me $5…..and it works for me