DM_aka_Dudemeister
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Pathfinder Adventure Path Subscriber
Caravan Encounters do give exp, if you look at the Caravan Encounters you'll see a CR listed.
For example a Goblin Raiders attack is listed at CR 1/2, (The Brinewall Legacy, pg. 80). CR 1/2 is worth 200 xp.
The book assumes you use the Caravan Encounters as well as the relationship rules to "keep up" when it comes to levelling with the adventure.