We use a really nice black gaffer's tape made by Permacel in the windtunnel in addition to a 3M Aluminum tape. I've never seen it hurt a car's paintjob per se, though most of the vehicles have been relatively new. Those two styles of tape are pretty standard for all the windtunnels I've been in.
Waxing the car first is going to have some adverse effects on tape adhesion, at least in my experience.
A good trick for removing blue painter's tape is to get it wet. Also, another good removal tool for glue residue that almost everyone has is WD-40.
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