In a large bowl, whisk together the instant vanilla pudding mix and whole milk for about 2-3 minutes until the mixture starts to thicken.
Carefully incorporate the whipped topping until it is fully mixed with the pudding.
In another bowl, mix the drained pineapple tidbits with the mini marshmallows. Add the chopped apples, roasted peanuts, and chopped Snickers bars (if using).
Gently fold the fruit mixture into the pudding base. Cover the salad and refrigerate for at least 1 hour to let the flavors meld. Just before serving, drizzle the caramel sauce over the top.