In a large mixing bowl, whisk together the instant vanilla pudding mix and whole milk until smooth and slightly thickened. Let the mixture stand for a minute or two so the pudding can begin to set.
Add the thawed whipped topping to the pudding mixture. Gently fold with a rubber spatula until the mixture is light, fluffy, and evenly combined. Avoid stirring too vigorously, as this can deflate the whipped topping.
Core the apples and cut them into bite-sized pieces. If preparing them ahead of time, toss the pieces with a little lemon juice to help prevent browning. Pat away any excess moisture before adding them to the salad.
Chop the Snickers bars into small chunks, reserving a few pieces for garnish if desired. Add the diced apples and chopped candy bars to the pudding mixture.
Gently fold everything together until the apples and Snickers pieces are evenly coated in the creamy dressing. Take care not to crush the apples or break the candy into overly small pieces.
Transfer the salad to a serving bowl, cover, and refrigerate for about 30 minutes if you prefer it chilled. For the freshest apple texture, serve it shortly after preparation.
Just before serving, scatter the reserved Snickers pieces over the top and drizzle with caramel sauce, if desired. Serve cold and enjoy the combination of crisp apples, creamy pudding, chocolate, peanuts, and caramel.