Tenacious tape is great. I buy sleeping pads at REI garage sales and repair the leaks with it. Just remember to have all corners rounded, like, make ovals instead of scquare strips so that there is no sharp edge to catch at start peeling. It'll stay on really well.
I also use it to reinforce high wear areas on my rainshell and it has survived several months and repeated washings without peeling, but it will peel off without any residue fairly easily if you actually try to peel it off.
The clear version of the tape is more like a plastic tape, so it will show folds/crease lines, etc. The colored fabric tapes bend and are more pliable. Both are waterproof. You can also run a little seam sealer around the edges of the tape for a more permanent fix.