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Form small caravans and then merge them on the world map. Also, make really damn sure that the supplies you want to use are already sorted and stored within a few tiles of the caravan packing spot / caravan animal hitching post. Do not travel with far more animals than people unless you have to, and if you're having difficulties gathering them all at once, don't. Have a couple pawns round a few animals up at a time, merge the caravans, then split a few pawns off the caravan and send them back to the colony to help rounding up more animals.
Don't try to gather, like, 80 ducks at a time for instance.
If you keep your supplies sorted and your animal stock at a reasonable count relative to your colonists, even very large caravans can be pretty easy to use, but it's important to do the work to keep them sorted.
Last point. If your caravaneers are able to be more or less self sufficient while camped near your base so you don't have to reform caravans with a given core of animals that you don't want to keep rounding up.
100+ animals, 2 colonists; hauling ~5000 steel.
First; get the smallest pen you're willing to get; this speeds up animal roping.
Second; micromanage pawns; make them eat before the caravan then half way through it, eat and take some form of drugs; psychite tea is great, yayo is absolutely amazing and restores enough sleep, grants enough mood buff to ensure the caravan leaves smoothly.
Third: Get the 'Drop Everything' mod, because it'll save your sanity, clicking everything and being able to drop the entire caravan's inventory is a timesaver (you'd have to right click unload using a pawn otherwise, which is doable but takes forever)
Fourth: Everything you load onto a caravan can be used by said caravan, so always pack a horseshoe pin and between that and two colonists, recreaction will always be taken of.
Fifth: Animals graze and reproduce endlessly. Your caravan, if you think about it long enough, is essentially also a winter food solution.
Sixth: Simply try and zone items near a caravan parking area. Build shelves close, zone items close, abuse pawns literally picking up items and dropping them, do whatever.
Interesting note: Unlike transport pods, Caravans will take forbidden items. I use this to forbid survival meals, because this way only the caravans will use it. There's probably better ways to use this knowledge.