When I've resealed, I don't remove the old. I simply fill the cracks or cover a larger area covering the original. My thoughts are: it's not leaking, it's just cracking a bit. If I pull it up, I run the risk of the new stuff not sealing good, or worse, pulling on the rubber membrane, potentially tearing or ripping it. No. Leave well enough alone! The more you disturb something, the more likely there is a chance of something getting damaged.
I just washed and treated my TT roof 2 days ago. I inspected the seams and caulking very carefully. I found no noticeable cracks. After 3 years, I would expect something, but not! As tempting as it was to apply another layer of caulk on top of the old, I thought... "And WHY?" No leaks, no cracks, no damage. I'm taking a bigger risk of screwing something up by trying to fix something that isn't broken. Leave it alone. And I did.