In a large bowl, whisk together the pumpkin puree, sweetened condensed milk, vanilla, pumpkin pie spice, and salt.

In a medium bowl, beat heavy cream with an electric mixer until stiff peaks form, about 2-3 minutes.

With a rubber spatula, gently fold whipped cream into the pumpkin mixture.

Transfer half of the mixture to a (chilled) 9x5 loaf pan.

Dollop half of the caramel sauce on top and swirl with a chopstick or knife.

Sprinkle with all of the candied pecans.

Pour the remaining pumpkin mixture over the pecans, followed by the remaining caramel sauce, then swirl the top.

Cover tightly with plastic wrap and freeze until firm, at least 6 hours.

Let ice cream stand at room temperature for 5-10 minutes before serving.