A lot of misinformation as usual in this thread. Before you go slapping on Dicor better determine what the roof is. Since 2013/2014 or so a lot of manufacturers use Alpha Systems Superflex roofing. Forest River uses it on just about everything, so do many others, Keystone, Winnebago, Grand Design. It's not EPDM, its a PVC material. Standard Dicor made for EPDM will seal the Superflex, but bubble and wrinkle it at the same time. The solvent in standard Dicor melts the Superflex PVC. You have to use the Alpha Total Protection branded sealant, or in a pinch a sealant made for a TPO roof. Dicor used to make a compatible sealant for TPO that would work with Alpha Superflex, but they discontinued it.
Using the correct product I would not scrape off any of the old if thin or cracked unless it was loose or really bad. Just clean it as well as possible using mineral spirits followed by alcohol, then float the new sealant over the old.