Manufacturer warranty does not require ANY maintenance. They have stated this at a couple of presentations I attended at rallies. That is NOT referring to checking seams.
Dirty and overgrown with mold/mildew you still get the 10 year coverage.
I wash mine with Dawn because I like to have a clean roof. Manufacturers rep said that was a good way to do it.
After washing the roof, I do the sides and put on a fresh coat of wax.
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S.E. Mich. Flagstaff 26FKWS / 2019 F-150 3.5 EcoBoost SCrew Propride