I would guess you're concerned with the rubber weatherstripping between the door edge and the frame that is compressed by the closed door to prevent leaks? If so, if it is serviceable and not torn, dry or cracked, any "quality" contact cement would work. Apply the contact cement per instructions (after cleaning the two surfaces) let it dry per the instructions, place the two pieces in the correct position and apply pressure for a few minutes. CAUTION: Once in contact, that's where the pieces will be permanently together, no "sliding or adjusting" can be done, so use caution that the gasket and the flange are properly aligned before you allow them to touch each other.
Your RV, a 2001 model is nearly 17 years old. Sun, UV radiation, chemicals, soaps, wax/polish and many other things can damage rubber. You may not be able to salvage the weatherstripping and might find that it needs to be replaced to properly seal. In that case, you'll probably find that your dealer has or can order replacement weatherstripping for you. You'll need a "sample piece" for him to know which type to order.
If, however, you're talking about the "rubber seal" that's actually a liquid sealant applied around the door after it's installed (similar to silicone sealant) then that would probably be Sikaflex or a similar product. You'll need to remove any damaged, non-adherent sealant, clean the area and reapply new sealant to the damaged areas. If this is the situation, then inspect very closely, any crack in the sealant could allow water to flow through from the outside to the inside of the door/hatch frame and could be the "entryway" for water to flow to the inner components of your RV.
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John
2015 F250 6.7l 4x4
2014 Cougar X Lite 27RKS
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