Had the same problem before and never got rid of it. In case you don’t get an effective way of removing it here, I suggest bringing it to a shoe service store. I should have done that myself. Maybe they could fix it.

I don’t know if they still make them, but I had a suede brush. It’s small and made of fine wire fibers with a wood backing. Maybe a shoe repair store would have them. Scuffs disappear when you brush the shoes with it. There has to be something.

I have a suede brush that I’ve used to get scrapes out of my suede boots. It took some back and forth action but they look fine.

Bring them into a shoe repair store, they might be able to polish it so it looks almost like it never happened.