It does appear that there is conflicting information. The first PDF that I posted is an older version of the same product.
Here's the newer one.
The bad news is that the newer information does caution against using the product on EPDM.
Where you applied the Geocel poduct was it mostly over an existing seam sealant?
Did you apply the Geocel product in a fairly thin layer?
The good news is that you said the product doesn't show signs of swelling or wrinkles which was mentioned in the first PDF as a possible reaction.
One of the problems with some sealants when used with EPDM is that the solvents don't flash off quickly and can affect the membrane material. They did mention the Geocel can affect raw edges of EDPM membrane. If the solvents flash off quickly (as with thin coatings) the detrimental effect is less or non-existent. That is why it is recommended to use primer solvents sparingly. a thin coat flashes off quickly, provide less contact time and less chance of any damage.
So, in my opinion, you are still OK. I'd be more concerned with the possibility of damage should you try to remove the sealant.
I would do regular inspections, but trying to remove the already cured sealant is not something I would recommend.
Worse case scenario would be to need to apply Eternabond Tape over the Geocel should you begin to see any degradation.
Sorry for the good news/bad news. It appears that the first 07/2009 PDF was superseded by the 07/2010 version posted above. Ask your RV guy about it. His experience may help to put you at ease. vic