Alpha Systems TPO roofing looks like orange peel in the surface texture. EPDM roofing is smooth. Whichever roof you have buy Eternabond tape (
EternaBond) and following directions place it over the seams and roll it down. The instructions are on the Eternabond website for download and in the Library section here on the forum.
Forest River Forums - Downloads - Awnings, Roofs and Exterior
Many RV owners don't wait for signs of damage. Several have applied the Eternabond as soon as they after buying their RV. I did my roof 3 years after I bought the trailer. I really didn't need to, I just did it for peace of mind. Eternabond is good for 10 years and you don't have to keep applying caulking. You apply it right over the old caulking after you clean it.