I agree with going through your insurance company. IF you do, there is a chance that if you take the rv to an RVRoof.com location, they could replace your roof for what the insurance company gives you.
They spray on a thick, flexible, monolithic roof coating. There would no longer be a need to climb up on the roof to check the caulking multiple times per year. There is no caulking and no maintenance. They offer a no-leak guarantee, and a lifetime, transferable warranty.
I've had half a tree land on my RVRoof.com coated roof, and no damage. It's tough stuff.
If you can't afford that, then I would recommend eternabond tape as a patch.