If you have the time, you might want to read these many pages of rubber roof questions
My personal opinion; if your roof is "soft" around the ladder it might be prudent to remove the membrane and check the decking condition, and inspect the entire roof for soft spots while you're up there. The actual membrane is time-consuming to lay, but IMO not difficult. DIY rubber (EPDM) roof repair.
2000 Winnebago Ultimate Freedom USQ40JD
, ISC 8.3 Cummins 350, Spartan MM Chassis. USA 1SG, retired;PPA,Good Sam Life member."We the people are the rightful masters of both the Congress and the Courts - not to overthrow the Constitution but to overthrow men who pervert theConstitution. "Abraham Lincoln"