Question: "Caravan" is a song that was a concert highlight and was included on an an album that performances that were recorded in concerts from when?
Sentence (from "Miami 2017 (Seen the Lights Go Out on Broadway)"): He performed this song at benefit concerts: The Concert for New York City for victims of the September 11 attacks in 2001, on the television program "" for Hurricane Sandy victims in 2012 and during his set at "".
Relevant evidence: No