What makes you think you need to “re-seal” the bolt holes?
If nothing is wrong, don’t touch it, don’t remove the lag bolts, not like a nut and bolt. Lag screws are Not designed to be removed and reinstalled multiple times.
Will the old holes hold up and catch new bolts sufficiently? Probably, the first time. But I can’t imagine rotting or corrosion problems on your camper and the general environment (so cal) unless it was largely neglected.
If the screw heads are beginning to rust, touch them up with some paint.
Only considering disassembling from the camper if necessary. Or you will be potentially weakening the connection.