"I'm supposed to use roof sealant that is specific to this type of roof. My question is, do I use the decor ultra sealant with primer"?
That is exactly what I use after doing a lot of reading. And I was cautious of a Dicor product that on the front of tube said "TPO safe" but in the small print on back said "safe for MOST TPO roofs". I don't know if I have a "most" TPO or not, so I stuck with "ultra sealant".
"I should use a cleaner such as Murphys oil soap to clean the roof periodically"?
I use a very weak solution of Dawn dish soap and a soft brush about once a year. Just to be able to inspect it real good and not so much for a sparkling clean white roof.
https://www.dicorproducts.com/resources/guide/RudysRoofbook_16.pdf After having one 2 years now I would not recommend a TPO roof to anybody. But being that is what I have I take real good care of it to get as much life out of it as I can.