Chocolate Turtle Poke Cake

Ingredients:

1 box chocolate cake mix (plus ingredients listed on the box)
1 (14 oz.) can sweetened condensed milk
1/2 cup caramel sauce
1/2 cup chopped pecans
1 cup semi-sweet chocolate chips
1/2 cup heavy cream
Caramel sauce, for drizzling
Chocolate sauce, for drizzling
Additional chopped pecans, for garnish
Whipped cream or vanilla ice cream, for serving (optional)