While you can certainly combine everything into one folder, I think you have to choose whether you want images to continually play/loop, or the videos to play. RMP won't switch/cycle between the two. (or at least I haven't seen a way).
I think the above is due to the fact that the images are presented in a Slideshow method.
However, if you simply want your videos to either repeat, or play in a playlist fashion (ie. one after another), just select the video file, (should now see screen with play option and file info) and then press the asterisk (*) button on your remote and select the appropriate options. (shuffle, repeat all, playlist mode).
For the images, once you select the file and the image displays you can then press the asterisk (*) button and select speed, shuffle, and photo info for the slideshow.
Roku RMP support info here https://support.roku.com/article/208754908
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