Welcome Jmonkey! Glad you are here.
You are supposed to be able to get on the roof to do maintenance. I generally dont stand on mine, but sit on my butt and move around spreading my weight around.
I do wash my every 3 or 4 months or so to get the grime off, but I dont go nuts trying to keep every spot gone.
Here is a good article I like about roof care - http://www.mydrv.net/roof_maintenance.htm
You are supposed to do some basic maintenance to keep up the warranty, and it is not too much work.
Enjoy the new camper!