Start by placing your can of dairy free sweetened condensed milk into a pot of simmering water. Lay it down on it's side and be sure the water covers the can completely. Let the can simmer for 3 1/2 hours. Check on it every hour and add water as needed so it never dips below the can. Turn the can about halfway through. Use tongs to remove the can from the water and let it cool completely (do not attempt to open the can before it's completely cool) before opening.
Meanwhile, place your crackers or cookies for the crust into a food processor.
Pulse until fine crumbles form.
Add in the melted butter and pulse until combined and the mixture resembles wet sand.
Press the crust into the bottom of a 9 inch springform pan lined with parchment paper.
Use a handheld mixer to cream together the cream cheese and yogurt until smooth. Add in the remaining ingredients and mix until well combined, scraping down the sides as needed. Transfer to the pan.
Preheat the oven to 350 F. Using a large sheet of tin foil, cover the bottom of the pan to ensure no water gets in. Place the pan into a large pan or dish filled with a couple inches of water. Bake the cheesecake for 45-60 minutes. The top should be firm but jiggily. Don't overbake it or it could crack. Turn off the oven and let the cake cool for 1 hour inside the oven.
Remove from the oven and cover with plastic wrap. Chill the cheesecake for at least 2 hours. Top the cheesecake with caramel sauce and serve.