I tried the "Sample" function.
This is my timeline.
The clip on the left ("default") is the original motion, with keyframes at the start and at the end of the clip. Nothing in between.
On the right is the clip after it's been saved as a .rlMotion file, imported, and then sampled. It's obviously not the same (simple) set of keyframes that the original clip has.
So, yes, you can see keyframes using "sample", but it's nowhere close to being the same set of keyframes you started with. Again - bottom line: There doesn't appear to be a way to go back and edit the clip once you've saved it.