I don't know if your roof is walkable or not. I've had campers in both categories. If you have a ladder attached, then you are about 99% certain you can. If you do not have a ladder attached, you can be about 99% certain you don't know. So, the best answer is, if you do not have a factory attached ladder ... the answer is "no."
About calking? If silicone was used, yes remove it. If it is Dicor, then do as Pedro Dog instructed (above). Removing old calking can cause more damage to your roof than simply leaving the old and just cleaning out the cracks and re-applying directly on top of the old, cracked area.
Never, ever use a metal putty knife. If you need to use any kind of putty knife, use a wooden Shem or a plastic putty knife, or a kitchen spatula (a non metal one).
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