There are a lot of great recipes for caramels that can be piped, but if what you want is chewy that might be a little more difficult to pipe.
Another place to look is Jean-Pierre Wybauw's books. My only "problem" with his books is that the flavors of the recipes are definitely old school and tend to be sweet. The techniques are really dead on, though.
And you are on the right track - caramel texture is as much a matter of temperature as it is of ingredients list. I have a recipe (uses sweetened condensed milk) that I make that can be quite soft at room temp but when I let it cook another couple of degrees it's a very different animal. I tend to make it thick/chewy and then warm and soften with cream to get the exact consistency I am looking for.
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@DiscoverChoc