I strongly suspect that you will never completely eliminate condensation in UK caravans, becasue there will almost always be some level of moisture in the air, and with the fact that sun cannot shine on all the walls of a caravan at the same time, you will get differential heating in side a caravan. Where the sun shines the air will warm up inside, and that will mean its ability to take up moisture will increase, so it will absorb the drops of condensation on that side of the caravan. As the sun moves round areas that were warmed will cool as the go into shadow, and as the air in that vicinity also cools it will condense some of the moisture out onto the cooler surfaces. This cycle will occur to some extent every day.
This is NOT indicative of a damp problem, as its simply the natural levels of moisture in the air and fabric adjusting due to temperature changes. The overall averaged moisture levels are will most likely be quite normal and certainly not made any worse by the daily cycle.
The particular issue with the cupboard would improve to some extent with better ventilation, and or additional insulation but unless it has been affecting any hung up clothes, (in which case you may have a water ingress issue) just leaving it alone is probably a suitable solution.