Most caulks have life expectancies of 20 years up to even 50 years. The issue is rarely failure of the caulk but flexing of the RV. If the caulk is good with no signs of deterioration or cracking, I cannot imagine replacing the caulk by trying to remove the old caulk, cleaning the surface and replacing the caulk. Lots and lots of work. You might add new caulk on top of the old but that is also rarely worth it and you might cover up a problem that needs to be dealt with.
Instead, I recommend a thorough inspection. By thorough, I mean every square inch, every seam, especially around running lights, windows, every screw head, etc. Rather than just recaulk perfectly good caulking, spend the time on inspecting once or twice a year.