I did that to the previous SUV we got...this one was already damn clean so luckily we didnt have to do that, but nothing like the feel of freshly pressure washed carpet.
on a car i bought several years ago i did the same thing and wound up getting a spray can of carpet dye to treat the stains after it was cleaned and it made it look new again.
for those of you with cloth seats, on the car i just referred to, i even unzipped the covers and pulled them all off and put them in the washing machine on hand wash cycle and air dried them. looked brand new. the PO of that car had spilled coke in the seat and no matter how hard you cleaned it just kept coming back. problem solved after that.