In a medium bowl, add in cold heavy cream, condensed milk, and vanilla extract. Using a hand mixer or stand mixer, whisk until stiff peaks form. Gently fold in a ¼ cup of crushed chocolate-covered pretzels and cooled caramel.
Pour enough ice cream batter into a large 8-inch container to cover the bottom. Add a few spoonfuls of the caramel mixture and the pretzels. Spoon in another layer of ice cream followed by more caramel and pretzels. Repeat until container is full. Sprinkle top layer of ice cream with sea salt.
Freeze ice cream for at least 4 hours, but overnight is best.