Wow, epoxy grout on a garage floor, with an asphalt driveway, in a color light enough to show stains.

Who could have ever imagined any problem with that?
Try mineral spirits or naptha. If that doesn't get it good enough then you could always clean the heck out of it and repaint the lines with a nice dark epoxy coating.
NOT Aqua Mix colorant, a real 2 part epoxy.
Avoid acids and strong alkalines, as well as temps over 150 F, as they will attack the surface of the epoxy grout.
Or unscrew a few light bulbs in the garage.
Seriously, blacktop sealer and new or high performance tires can stain most epoxies beyond the point of clean-ability.