Rod, it would be better to do it before you get a leak.
The best sealer to use is Silkaflex, as it stays soft, and will not break away with movement of the van.
For awning rails, prise out the centre plastic cover strip to expose the fixing screws, remove those, some may be rusted in and require careful drilling out.
Use a wide flat blade to gently prise the rail away from the van, taking care not to distort it.
Use a plastic scraper to remove the old sealant from the van, carefully!!, and remove sealer from the rail as well, then thoroughly clean both rail and van, where the rail will go back, with White Spirit.
Put a GOOD bead of Silkaflex on the rail, so that when pressed to the van it will squeeze out either side of the rail. Refix preferably using new, stainless steel screws.
When refixed, use a plastic scraper to trim the extruded sealer along the rail, then put the plastic insert into hot water to soften it, and refit to the rail.
You should be able to get a tool to make this bit easier, either from a dealer, or car paint shop.
All other sealed items are done in the same way, remove the old, clean and reseal.