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You basically always have a "cargo within capacity" debuff. But given the numbers you post it should just be very very small, so, how large is it actually?
Sheep, pigs and cows count against herd penalty, as do all horses and mules.
Given that you have primarily infantry and given the size of your army that is probably more or less the top speed you can expect. No, not a larger army, the larger the army the slower you will travel.
If you want to become fast enough to capture caravans you can either
1) downscale the size of your party
2) replace infantry with more cavalry
3) exploit the perk in scouting that reduce your movement speed penalty in forests. Basically, angle your approach to the caravan so that it will run into a forest.
4) Use chokepoints where you can trap them.