Make the bars: Preheat oven to 350F. Line a 9x13 baking pan with tin foil and lightly grease. Set aside.
In a large bowl, beat pumpkin, sugar, oil, eggs, milk, and vanilla until smooth. Mix in flour, pumpkin pie spice, baking powder, baking soda, and salt until batter is smooth. Spread evenly into prepared pan. Set aside.
Make the topping: In a medium bowl, combine all topping ingredients until crumbly. Sprinkle evenly over bars batter. Bake bars at 350F 25-30 minutes or until a toothpick inserted in middle comes out clean. Cool bars on a wire cooling rack.
Make the caramel sauce: In a small saucepan over medium-high heat, bring butter, sugar, and agave to a boil, stirring occasionally until caramel is thickened and dark brown. Remove from heat and whisk in baking soda and salt.
Drizzle warm caramel over cooled bars and let set 5 minutes. Slice into bars and serve. Enjoy!