As you were told a good of rule of thumb is if your RV has a ladder on the back of it you should be able to walk on the roof. In your case you should be fine as long as you do not decide to start doing jumping jacks on the top of the roof.
The key to staying safe on the roof of your RV is to wear good footwear and always be aware of where you are on the roof as there have been RVers who have fallen off the roof of their RVs.
I hope that helps.
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