Granted, it was the vinyl seats on my pontoon and not the RV roof - but our boat cover created a perfect mildew-growing environment; and my pontoon furniture showed it. There were big blotches of black mildew everywhere. I decided to try our 1200 psi pressure washer, figuring I had little to lose.
It helped a lot - I'd say it blasted off maybe half of the mildew - but the stains remained (and careful use didn't hurt the vinyl fabric). Then I found a product on Amazon called Zumildew (by Zep) - and sprayed that on the furniture and let it set. And watched the mildew disappear before my eyes! No scrubbing! I wiped off the furniture with clean water and a wet towel, just so there wasn't any residue (it smells strongly of bleach) to bleach out bathing suits/shorts, etc. My 16 year-old boat looks brand-new!
I have no connection to Zep - just a happy customer.