For 2015, Aprilia returned to the world championship supplying Aprilia Racing Team Gresini with two RS-GP bikes for riders Álvaro Bautista and Marco Melandri, who made a comeback since he last competed in the premier class back in 2010.

On March 26, 2017, the RS-GP achieved its best result yet, having finished in 6th place in the 2017 Qatar Grand Prix with Aleix Espargaró after starting the race from 15 on the grid[4][5][6], the same feat occurred in 2018 at Aragon when Espargaró achieved another P6 result[7][8][9].

The RS-GP also achieved its best qualifying result within the top 3 in the MotoGP era with Espargaró starting 3rd behind Fabio Quartararo in 2nd and Johan Zarco in 1st.

At the British GP, Espargaró earned both Aprilia and the RS-GP its first-ever podium finish in 3rd in the Modern MotoGP 4-stroke era and Aprilia's first podium finish in the premier class since Jeremy McWilliams in 2000[13].

In 2022, another bout of improvements to the RS-GP saw it qualify on pole position and for the Argentine GP.