I'd echo Technologic. Antifreeze (ethylene glycol to be specific) is not highly caustic (severely skin-damaging), just poisonous. And it's not that poisonous either - the ingestion measure that necessitates a medical assessment is about half an ounce for an adult, but after an entire year, you're not going to find that much left in your trunk. The particular problem with ethylene glycol isn't it's volumetric toxicity, but that it tastes sweet rather than bitter, so it's easy to consume in dangerous amounts, especially for young children.
Assuming that you cleaned it up at the time, all that will be left is minute trace amounts. Even if you cleaned the entire surface of both consoles with your tongue, you wouldn't pick up a dangerous dose. Just wipe them off. You're not dealing with nerve gas here. Bear in mind that "poisonous" is as much a quantitative measure as qualitative. Practically everything is poisonous in sufficient amount, including oxygen and water. Poison notices are simply attached to substances that have highly damaging health effects relative to the amount consumed. And you are exposed to ethylene glycol in the environment from time to time - you probably touch and inhale trace amounts every time you visit a car workshop, and it's used extensively at airports for de-icing wings. You've probably inhaled/ingested trace amounts of most household chemicals at one time or another.
EDIT:
Actually, If I remember my chemistry, glycols are unstable in air, and tend to break down into carbonic acid (which you'll find in all carbonated drinks) and various alcohols within a couple of weeks. There shouldn't even be trace amounts left.