On my previous trailer I redid the caulking. I found a tool at the local building supply, it was made out of plastic so it would not scratch and it was made for removing calk from corners. Like around a bath tub. Worked great, think that I wore out about 3 of them. Also they had something from "Go Gone" for removing silicone caulk, which helped with cleaning up joint before applying new caulk. I used a different caulk then silicone for redoing joints. It is make for RV use, but I can not remember name.
I would be careful with something like WD-40. The oily residue might create a bonding problem. I have been an architect for 50+ years and in the specification for caulking, it was always called for the joint to be perfectly clean, before installing caulk.