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maybe try and hold off on forming the caravan until after those you are sending are able to sort out their needs, they will only eat while forming the caravan. even specifically schedule rec and sleep to support the caravan process.
Either way forming caravans shouldn't be long enough to send people on mental breaks, but it WILL take longer if you don't have some sort of carry capacity mod, because IIRC vanilla pawns never use their full inventory size to carry stuff
They can actually use significantly more than their inventory capacity for caravans. When forming the caravan the game is mostly concerned with the combined total capacity of all members, not any individual's capacities, so you can often end up with pawns holding like 50kg out of their 35kg capacity.
What imho takes long is to unload everything when they come back, but that wouldn´t change my habit to have the animals at the outer side of my villages or bases, as i usually do caravans, or animal breeding, when i have nothing dramatic to worry about. Also elephants may be nice, but horses are the best caravan animals, because of speed buff and they need less food. :o) Or alpacas or muffalos will provide You with further resources, when they´re not needed by the caravans.
Else i guess everything was already said.