It is glued-on foam. You may possibly be able to peel and strip the old glue off, but there will always be marks from it, unless you polish it. I did remove and polish the interior in a customer's trailer, once, and can guarantee you I will never do it again. Or course, it was a 34' trailer, too. I couldn't find a Bambi to experiment on...
Meddle not in the affairs of dragons, for you are crunchy, and taste good with ketchup.