If it is the original roof then I'm pretty sure it will be EPDM. The manufacturers didn't start using TPO until the mid 2000's.
If the underlying rubber is not totally deteriorated, then you could scrub down the old sealer to remove any loose stuff and recoat. That will get you by for another couple years probably but it sounds like redoing the roof would be the best. If it is something you can tackle yourself (with help) that would be the best solution.
There was someone on this forum that redid their rubber roof and had lots of pictures but I cannot find that old thread.
EDIT: OK, I found the thread but it was a link to another web site and the link is broken. It was posted by a current forum member named "rsflight" so if you are interested in seeing what he did you could try contacting him.
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Nick
1995 Coachmen Santara 360MB 36' w/slide.
Ford F53/460 chassis, 2020 Chev Equinox "toad"
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