Yes, check the caulk for cracks, check the roof for rips. You don't need to re-caulk everything, just check the condition looking for problems that are starting to develop.
In fact anytime you go under trees that might hit the roof its easy enough to check the roof.
My last camper (fleetwood) had a couple leaks. Within a couple months, a small leak can cause MAJOR DAMAGE. In fact if anybody reading this has a fleetwood, if it don't have a formed fiberglass front, check out the 1. 5" metal bands (that go from top to bottom along the sides of the front) that hold the front fiberglass on, If you have the type of band you can see the screws that hold it on, remove each screw and seal them. Mine leaked around a screw head, warped all the paneling in the front of the camper!
Be carefull, if its already leaking, the screw head will break off before the screw comes out.
As for cleaning the roof, clean the sides of the camper first, then the roof. When you clean the roof first, the cleaner mixes will all the dirt on the sides and leaves black stains on the side that are a PITA to get off
