Clean CD drive?

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Clean CD drive?

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My Kenwood CD receiver is complaining that the CDs I'm giving it are upside down or too dirty.

Now I'm putting them in the right way up, and the CDs are fine, so thinking after a couple of years of sitting idle the lens could be dirty. How do you go about cleaning a slot-drive CD device?

Worth while to drop it into a car radio repairer if such a thing still exists?
 
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