Winnebago puts out a Sealant Guide for all their motorhomes organized by model name and year. The really ODD thing is, I can't find any mention of the 2012 Winnebago Chalet 31CR in any of the guides. I can't find a brochure for that model either in the Brochure Archive.
I can see it's a Class C on a E450 F53 Chassis - but it's like it didn't exist - at least in the "Guides and Diagrams" section of the Owner's Resources. The closest appears to be the Access 31C and there is a Sealant Guide for that model.
I've posted a screenshot below - and a link to the PDF:
https://www.winnebago.com/Files/File...2/178080a3.pdf
The part number for the sealant on the lower compartment is: 072889-10-000. That is Manus Bond 75-AM in black. It's available on Amazon, here's a link:
https://www.amazon.com/Manus-Product.../dp/B079Z2RH4M
Manus Bond is a Urethane non-leveling sealant used on plenty of places on your RV.
Even though the guide is for the Access 31C from the way you describe the sealant on your RV I feel confident it is the correct sealant for your application.