Greetings Diane,
I have an Audi A6 Tdi 2.5 CVT that I use to tow a Swift Challenger 560. I took it on its first trip to Spain, fully loaded and it coped fine.
You don't say what the weight of your Conquerer is but it may just be that its a tad on the big side for the Audi. My 2002 model weighs in at 1700kgs and this may be a little light to cope, not only with the weight of the Swift but also the size. You could try loading the car more rather than the caravan. The Audi has a huge carrying capacity.
Oh, I just forgot. I have fitted Grayson Spring assisters on the rear coils. I found it helped keep the rear end up a little. It is after all, hardly a Range Rover and it sits fairly low to the ground.
Any other queries. Please ask.