Remember that it really isn't caulk in the sense of latex caulk. Your roof is covered, most likely, with EPDM rubber, and the sealant around the fixtures and edges is Lap Sealant.
There are two kinds of lap sealant -
self-leveling and
non-sagging.
I just went through a roof reconditioning using a combination of
Eternabond tape and
Liquid Roof after finding water leaks in my FW where the lap sealant appeared to be ok (no surface cracks, but there were areas that had slightly separated from the rubber roof and water found its way down through the walls, the repair project is a different story).
So, regardless of the condition of your roof and lap sealant, there is regular roof maintenance you should consider.
First, try to keep your roof free from debris regularly by checking it before you go out if you're parked under a tree. It could be a simple as a quick visual check. Branches, twigs, etc. can poke holes in your roof if in the right place.
Clean your roof twice a year or as needed. Dicor has an excellent
video on this topic.
Camping World has the products referenced in the video and repair the lap sealant as needed.
I actually recommend that you consider applying Eternabond tape or equivalent over all the lap sealant areas as additional "insurance" against water intrusion.
Hope this helps.