Instead of screws for solar panels on RV roofs, many people use 3M VHB tape (Very High Bond), which is double-sided and very strong. There are different versions of it, so you'll need to read up on it. From what I read a few years ago, I was thinking about #4950, but never ended up doing anything. I'm not at all sure I'd use that, or any glues or epoxy, for something other than panels (the panels sit pretty flat and have a low wind profile).
There have been a few reports of solar panels coming off after a few years, but I don't think I've ever read about a case that isn't kind of third-hand, so I'm not sure. On the other hand, to me it seems obvious that any tape is going to chemically change and go bad over years. Which is why I never did anything. I think I'd use screws, as otherwise I'd be too nervous.
If you do end up making a hole in the roof where the screw didn't get into wood, you can always fix the hole. If it is small, some epoxy might be fine. Otherwise, or to be more correct, you can mix new fiberglass and patch it.
If you're not sure about patching the fiberglass youself, I've heard the best thing is to take the RV to a boat shop that works with fiberglass, as they have lots of experience.
Oh, and I believe the outer fiberglass shell is 1/8" thick (maybe 3/16", but I think 1/8" is standard). Then it has foam core in some places and the plywood in others, followed by the inner fiberglass shell, which I think is either 1/16" or 1/8" thick. I removed the cover for my bathroom fan in the picture below. You can see the shower fiberglass shell, a small gap, then the roof. It is kind of hard to see in the picture (click on it to see it larger and in correct orientation), but the bottom where the carpet is has what looks to me to be 1/16" fiberglass, then 1" white hard foam core, then 1/8" fiberglass. I opened up the main coach fan vent also, but the shell comes down too far and covers everything - about all I could tell is that it looks to also be 1" foam core with the same thickness fiberglass, but I could only barely see it.
If you do drill, know that our coach's fiberglass is getting old and prone to cracks. Check out this old post of mine where I explain my technique. I'm not saying its the best or easiest technique, but it followed the best suggestions I found searching around a lot, and did work when drilling many holes for my new door.
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Too bad Blue~Go hasn't been around the forum in a long while, he always had lots of useful info and suggestions. (Blue, if you're around, I miss you, Dude, and hope things are well with you).