There is no official ‘tipping point’ to my knowledge; it all really relates to axle loading and what the chassis and suspension makers can offer caravan manufacturers.
For example, you need to fit larger and heavier components to a single axle van compared to a tandem axle van of the same weight as, on the latter, the load is shared.
Ditto brakes: Just about all single-axle off-road vans run 12in electric brakes, whereas many tandem off-roaders run four 10in brakes.
I have never seen a single axle van with an ATM of more than 2500kg and many manufacturers stick to single axle vans to ensure they are ‘Prado-friendly’.
As I said, the problem as you get heavier is that you are putting greater load on the individual axles and you need to maintain higher tyre pressures.
Regardless of the above, the general cut-off single/tandem line seems to be 17ft 6in, but there are smaller tandems. For example, my Trakmaster caravan is a 15ft 6in tandem as I wanted to spread the load and run lower tyre pressures.
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