"Simple Green" is simply a cleaner that happens to remove oily residue. "Oily Residue" is not quite what automotive undercoating is. There was a cleaner on HSN this afternoon which was cleaning off baked-on cooling residues from a kitchen stove door. Took two applications to get to the base finish on the door. Something like that might work! Don't recall the full name, but it ended in the numbers "66". and cost $39.95 USD/gallon. FWIW
To do things like removed undercoating, that was a somewhat common thing to do for serious drag racers in the later 1900s. Not an easy job, even back then. Laborious, too! To save about 50 lbs and get the additional vehicle performance that weight savings might accrue.
IF you want to remove undercoat, you need to use an oily chemical to soften it first! Just like using car clearer wax to remove "road tar". Put some oil on it, soften it, then scrape off better and easier. Maybe some spray-on penetrating oil? Spray, let it sit, spray more, let it sit, cycle repeat until it is soft enough to scrape off. DO put a oil-resistant tarp under the car first! Then covered with old newspapers to help ease the clean up activities.
Take care,
CBODY67