Is it okay to submit manuscript to arXiv after "revise and resubmit"?
The version you mention is called a postprint. Publishers have various policies about them. You can use the SHERPA/RoMEO service to get a summary of the policy in place for a particular journal.

Here is an example of what you get for Lecture Notes in Computer Science, edited by Springer:



As noted in the comments, you do not necessarily need to abide by these policies, for instance if your funder has set up an open access policy.