Can bailiffs remove a touring caravan from your driveway?

Yes

The bailiff may take control of goods that belong to the debtor,^[1] from where they live.^[2]

Place the caravan behind a locked gate and secure it.

^{[1] Paragraph 10 of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007
[2] Paragraph 14(6) of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007}