I have done 4 RVs with solar. None did I use screws, I just personally do not like more holes that can leak.
I have had great success with the 3M VHB tape.
The first projects I used more tape than necessary.
On the last project, which is on a steel roof, I assume galvanized, I used aluminum angle iron pieces cut from a long Homedepot piece. They were the width, about 18 inches, of the panel. I taped 4 inch pieces on the ends and stuck that to the roof. I attached the panels off the roof for cooling airflow and room for the cables. I left the sides completely open, the angle iron was only on the ends. *
You will want to screw the panels to the brackets before committing to sticking it down to ensure there are no gaps.
I used self-tapping screws to attach the panel to the bracket.
My panels are similar or exactly like the post before me. Be sure not to put the screws too high and run through the panel itself.
If your surfaces is metal, or gel coat fiberglass then the tape works fine. On rubber, then maybe thats why guys screw to the roof.
I wanted to mount them on a hinge and use a locking pin so I could rotate them up to face south. I had no intention of aiming them constantly, but just to get an angle to capture max sunlight from the south. I would have to park east-west facing one direction as I planned only one hinge - that's if I wanted morning to evening setup.
As is I mounted them flat, two 100 w panels and is enough. In Spring to Fall the batteries recharge by morning. I run a big electric chest compressor fridge, and minimal lights/charging.
The VHB tape will come off with a heat gun and some pulling, or using a scraper, but I have never had any issues with it coming un-stuck otherwise.
* If your roof is not completely flat, few are, then do not screw the panel to the angle iron (L-bracket) with all the screws, just one screw per side to hold it all, then when on the roof this allows for the bracket to lay flat, important for the tape to be perfectly flat, then screw the remaining screws in