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Try starting off in 2nd gear, you will get more Traction, use pieces of old carpet, if possible position front wheels on the tarmac of the road, and use a strong tow rope between caravan hitch and towbar. try and put exra weight in the front of your car as your trying to pull off, I once got two adults to sit on each others knee on the front seat to provide extra ballast and grip when exiting a muddy CL field, then the old rally trick of pressing down hard on the wings over where the wheel is spinning, but remember to keep toes well clear and wear old clothes as your lightly to get splattered.

If you have a motor mover fitted to your caravan try taking the caravan off by using that alone, and just use a piece of old carpet under the path of the jockey wheel.

Julia