Caramel Popcorn- The Best!

My husband and I love caramel popcorn, we could both eat a whole bag of it by ourselves! I usually only make this in the fall but we are going on a 36 hour road trip and I thought this would make the trip a little more bearable! :)
I love reserving a little of the caramel and drizzling it over the top after I've poured the caramel corn on the wax paper, that way there are hidden chunks of caramel, so so so good! If you like your caramel corn crunchy you can place it in the oven at 250 for 20 minutes after you've mixed the popcorn and caramel together. The flavor of this homemade caramel is so delicious, the best I've tasted.

Caramel Popcorn

1 1/3 c. brown sugar
4 Tbs. butter
2/3 c. sweetened condensed milk
1/2 c. Karo syrup (light corn syrup)
1 c. peanuts shelled (optional)
2 bags buttered popcorn, popped

Pour popcorn into large bowl, shake bowl so that the seeds fall to the bottom. With hands place popcorn in another bowl, throw out seeds (do this to remove all seeds, there is nothing worse than eating caramel corn and getting a seed!) Add peanuts in with popcorn.
Combine first 4 ingredients in a medium saucepan, turn heat to medium/high and bring to a rolling boil (a boil that you can't stir down). Continue boiling and stirring for 3 1/2 minutes, remove from heat. Pour most of it over the popcorn and stir gently to coat all popcorn. Place on wax paper, pour over remaining caramel, let cool for a few hours. At this point you can bake it at 250 for 20 minutes if you like crunchy caramel corn instead of placing on wax paper. I would probably use parchment paper to cover pan if putting in the oven.