I have a telescoping windshield cleaning pole that I purchased at our local RV dealer , one of the brushes that it came with has a plastic sponge type surface that a microfiber cloth sticks to very well. With this I am able to reach all the upper areas for cleaning and its sturdy enough that it does a very good job. I haven't tried it for waxing yet. On our 2350 I used the belly method of hanging over the top to wax, not sure iam still up to that. Read on a forum someplace, maybe here, about using a youngster, hold his feet and give them a rag and can of wax. My grandson would be up for it, but my daughter would probably never leave me alone with him again.
Bob