Not in my truck thank god! But in my fiance's Mazda 3. We're watching our friends dog while they're away for the holidays and it kind of freaked out in the car and got poop all over the seat.
I cleaned it up with some oxy-clean pet stain remover for carpet and upholstrey. It looks like it all came out and most importantly it doesn't smell like poo, but there are marks on the seat from where I cleaned it. Any tips on getting those out or something? It's like all the cleaner didn't come out of the seats. I followed all the directions and blotted until all the towel was white instead of poop-colored and then some.
If all else fails I have a friend that owns a car wash and they have an extractor and she could hook me up with a full interior clean, but that a last resort.
Now her car is no longer a #3, it's a #2.

 

The extractor is your best bet.... second option, hot/damp towel. Allow the upholstry to dry completely to avoid a musty (mold) smell.