I don't remove and replace sealant (caulking) that is working ok and neither does The American Coach factory if you ask them to inspect & repair your roof. I inspect mine annually and touch up if needed but otherwise leave it alone. "If it ain't broke, don't fix it."
Remove and loose or badly cracked caulk with whatever tool works easily. Since you have a fiberglass roof, you don't have to worry about cutting it like you would with EPDM or TPO. Clean the area (you can use mineral spirits on fiberglass) and apply new caulk as needed.
On my '04 Tradition I've re-done the fridge vent area, added caulk on two corners on the shower skylight and touched up around the ladder mounts. Everything else is still fine.
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL