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Try using a double boiler to keep your caramel at a consistent temp. As for the fat, I think it's presence determines whether you have caramel apples or candied apples, which have a hard coating rather than a soft, chewy coating.
I am not sure about the milk vs heavy cream but I would think it would have something to do with the liquid content. However with reheating the caramel you are over cooking it an creating a tougher consistency. Try adding a little hot water.
The cooking temperature will give the texture and can help create the flavor on how quickly or slowly you bring the mixture to the correct temperature.