If the adhesive is the water based type, I've used mineral spirits to clean it. You need to clean it quickly and then wipe it dry.
If it has time to soak in it will expand the EPDM(makes wrinkles/bubble up). I've had this happen several times and my experience has been that it will contract back to it's normal shape in a few days.
I haven't experimented with it, but I prefer not to have it bubble up, so I do a small area and wipe it dry then do another area.
The last roof I had to replace wood on had 2 x 2 ft. area on the front corners and 3 x 4 ft. area on a rear corner. I tried to keep it clean but got saw dust in it. Ended up replacing what I pulled up with new rubber.
I usually don't throw something away if I can re-use it but I got lazy and that was just a lot quicker.
Bontrager's Surplus used to have very reasonable prices on the EPDM and adhesive. Not sure what shipping would be.