My undercoating was so hard and brittle I was able to remove most of it cold using a thin spring-steel scraper and a chipping action. Surprisingly little damage occurred to the original paint. I did the final cleanup with (I think) lacquer thinner. It is a long and tedious job.
My big tip: don't even try to do it without removing the engine first off. You'll save more time than it takes to pull the deck lid (remove hinge pins only) and the engine with ZF attached. I agree with the Bed liner approach. I used paint and it's far less durable (my trunk pan scratches it easily). It's a tough job, but worth doing.
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