No personal experience with caravan tours, but had them offered as a part of purchasing a new Winnebago product, and being given a 1 year WIT club membership. We thought they were pricey, for what they offered, and thought we could do better by ourselves. So, we did 3 years ago, but we plan on going back, because we'd have to stay for a month or more to really see everything on our personal bucket list for an Alaska trip. We were time constrained when we went the first time.
You will need proof of a recent (1 year or less) rabies vaccination for every pet you plan on bringing with you, when you enter Canada, going and coming. If asked. CBSA may or may not ask if you have any pets on board.