As others have said, the most significant impact to efficiency is drag. There are two key aspects to drag. 1) slipperiness of the outfit, which is mostly made up of the frontal area of the caravan. 2) Speed. Keeping the speed down mitigates for 1).
Your original questions was, is there any kind of tow vehicle that will have a lesser impact on economy when towing. Two ways to look at that too. 1) get a massive tow vehicle whos own aerodynamicas are so poor, adding a caravan is not a big change. E.g. A VW Transporter or Transit. But this just makes solo journesy expensive too. 2) Get a tow vehicle which is super economic, so that even if the efficiency while towing is half that solo, its still not horrendous. I.e. consider electric?