Rejuvenating Rubber Seals?

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Hello all.

So i have a bunch of rubber seals from my car, they are all in good condition, not rotted or anything, but a little stiff and dirty.

Is there any methods I can do to bring a bit of life back into them, to rejuvenate them and make them more soft for better sealing?

I did read once a warm soapy mixture with them sitting in it was one way, but I dont recall the final details.

Any suggestions?

Cheers