If you choose to paint on a coating, use one designated for EPDM rubber roofs and preferably an RV specific product such as Kool Seal RV or Dicor Rubber Roof Coat. But you probably don't need a coating unless the EPDM material itself has deteriorated to the point where the woven backing is showing.
For cracks along the seams and around openings, use an EPDM lap sealant (such as Dicor lap sealant) or Eternabond tape. The tape can be awkward to apply over existing bumpy caulk, so the lap sealant is a better choice if you don't want to remove or smooth the surface. But the Eternabond will last longer and work better on flexing joints like the seam between front or rear cap and main roof area.
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL