Along with a typical microfiber hand mitt, I use
this one for the outside of the wheel's crevices and so forth.
Then, for the back inside of the wheels I use one
like this. The cover on mine comes off and I can drag it around the inside back of the wheels and along the brake calipers using the wand instead of my hand to drag it around. The wand itself has a foam cover so no damage to wheels. If you buy this one, just make sure the cover comes off because it isn't very useful as it is for wheels.
I do not use these for anything except my wheels. I have other brushes for tires and others for body work.
I also have found that a ceramic car wash helps to keep the wheels a little cleaner in between washes. Pretty brutal what wheels are subjected to so I try to give them some love.