You need to make these a day in advance so they can sit in the fridge, where the caramel will gradually melt into the coffee custard ... or until the syrup has turned to a dark golden-brown ...
Whisk the caramel condensed milk into the cold filling mixture until well combined. Chill in the fridge until needed. For the coffee whipped ... coat them in the syrup. Scrape the sugared pecans ...