I used Murphy's on my TPO roof with a long-handled soft-bristled brush and it worked very well. I didn't have any sap or leaf stains to deal with, and I tried to do it twice a year, but most years, I only got to it once. I didn't get really nit-picky with it though, I was really just looking for a basic clean. The roof always looked really good when I was done.
I did check the seals quite often though.
-2018 Greyhawk 29MV
-1997 Jeep Wrangler YJ (Toad)
-2015 Jeep Grand Cherokee Limited (Soon to be Toad)
-2014 Jay Flight 28BHBE & Ram 2500 6.4L CC 4x4 (sold)