Facilities Manager here... $.02
We all know spending some time going over and cleaning stuff you own makes it last longer. Have had buildings with both TPO and EPDM.
EPDM holds up better however on a full glue down (current building is only sections glued) is not as flexible as TPO and gives more residue to clean off the sides of your RV.
TPO is more flexible and a bit cleaner but tends to stretch and tear easier.
I clean the roof once a year. Gives me a reason to give a good look at the roof and all sealed joints or penetrations. Also to check for glue that may have released.
But I have been told I can be anal about things...