Where you at? What's your expected temperatures?
If you decide to use a spray foam, I'd suggest you use one that will cure flexible not rigid. Also, I'd prioritize skirting your fiver. After skirting, I've not found the need to further insulate the slides' tops and sides. My seals haven't been a problem, fortunately.
A friend of mine who had leaky seals retracted his slides a little, put widow seal foam between the slides' trim and extended the slides back out - said it did the trick.
Good luck.
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