Ann, your caterpillar does kind of remind me of this kind we get in the flight cage at MOSI every year and they seem to eat anything. I looked in my "Caterpillars of Eastern North America" book for things that ate dandelion but couldn't find a match. But there's a section in the book that talks about how some caterpillars are generalists (meaning they eat pretty much anything) and that dandelions are good for feeding them in captivity.
Linda, good for you! If you knew the amount of eggs I've picked off parsley at Home Depot...Let's just say I always take some tupperware in my tote bag. Also, if the milkweed wasn't safe I don't think you would have a "big" one. Pretty sure it would have killed them by now. I've bought milkweed from Home Depot and Lowe's and it's always been fine. I think they must grow it in greenhouses though because I hardly ever find eggs or cats on them. But as soon as I get them to the house, I get egg-bombed.