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Caravan movement speed is an average of all member's movement speeds so adding fast animals to a caravan makes your colonists move faster on the map. There is an extra penalty to movement speed if a member is incapacitated and incapable of walking and I believe a capacity/manipulation requirement for that caravan to move at all (to simulate carrying them). There is no throwing an injured colonist on an animal and moving at full speed, at least not without mods.
What you are probably expecting is something you'd need the Giddy-up mod to accomplish.
when your pawn(s) are healthy enough to travel on you just reform the caravan and off you go.
Does vanilla offer a way to just rest on a map tile without forming a new colony? I'm 95% sure the 'set up camp' mod is required for this?
You don't have to walk back, you can build new pods on the mission map after you clear out the enemies. They are pretty cheap, you can often get the materials on site by deconstructing some stuff, and you can send in the chemfuel or any steel you couldn't gather in another pod.
You can also rest up on the mission map before leaving, you don't need to settle a new tile or use a mod.
As for early game caravans being slow, if I plan to do any caravan stuff I build my base in easy to travel terrain along a road. That way my colonists can get to most quest locations in well under a day, often just a few hours.
When doing trade runs, there is no mission map though ... :) Which is a shame, I wish Vanilla added an option to actually visit settlements we trade with.