Disclaimer: I haven't read about the Jeep problem (yet). Here's my solution.
This problem has some similarity to the one confronted when bringing satellites into orbit: in order to be able to have one unit of fuel available to give the final acceleration, many more units are needed to get that unit of fuel at the elevation and the speed where it is to be consumed. The amount of fuel increases exponentially with the final result to be attained. In the current problem the factor is distance from the start rather than elevation/speed.
I will argue below that the most economic way to transport fuel in a sustainable way (with the car returning to its starting point) consists of steps in which one starts with a full tank and four jerry-cans, stops after half a km dropping the jerry-cans and returns to the starting point, having emptied the tank on arrival. Since halves will be present throughout, I take half a jerry-can as unit of fuel, and half a km as unit of distance. I assume one is allowed to leave half-full jerry-cans along the route (or other fractions, but I will not use them); in practice this occurs after filling-up when the tank is still half-full. However I suppose one can only dump at most $4$ jerry-cans of fuel ($8$ units) at once, i.e., one cannot recover any fuel from the tank. This is the reason I chose the unit distance: making shorter round trips than that would imply there would be unused fuel in the tank on return, which is not optimal.
To get $n$ units of fuel at a distance of $d+1$ units, how many do we need at distance $d$? Basically we need $\frac54n$ units, using the above method. However the final trip from level $d$ to $d+1$ can be one-way, so in it we can transport up to $9$ units of fuel and consume only one unit (we cannot unload more than $8$ units, but the remaining fuel unit will serve for the next, forward, trip). The final trip can be suboptimal if $r$ is small, but there is no point in putting fuel at distance $d$ just to fill the car for this last trip. So we decompose $n$ into $q$ groups of $8$ and one final group of $r\leq 9$ units; we shall need $10q+r+1$ units of fuel when stating from level $d$. Therefore define $f:\mathbb N\to\mathbb N$ by $f(n)=n+2((n-2)\div8)+1$ for $n\geq2$ (where $\div$ denotes the quotient of integer division), and $f(n)=n+1$ for $n<2$. Since we must travel $40$ units and need no fuel left at the end, the required amount of fuel is $f^{40}(0)=7348$ units of fuel, or $3674$ jerry-cans. The list of amounts of fuel needed at successive distances is [7348, 5879, 4704, 3763, 3010, 2409, 1928, 1543, 1234, 987, 790, 633, 506, 405, 324, 259, 208, 167, 134, 107, 86, 69, 56, 45, 36, 29, 24, 19, 16, 13, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0].
To see that moving using $10$ units of fuel to place $8$ units at the next distance is the optimal sustainable move, argue as follows. I claim that the "free-market" price of a unit of fuel at distance $d$ is $(\frac54)^d$ (at least when $d\in\mathbb N$). If one imagines getting paid this amount when leaving fuel, and having to pay the same amount when picking it up again, then the proposed move is without profit or loss, while all other moves operate at a loss. For instance using $10$ units bought at distance $d$ (price $10(\frac54)^d$) to deliver $6$ units at distance $d+2$ (price $6(\frac54)^{d+2}$) and drive back turns out a loss, since $6(\frac54)^2=\frac{75}8<10$. The same price for non-integer $d$ shows that using intermediate distances is not profitable (taking into account that one cannot deliver more than $8$ units; without this restriction very short moves would be very slightly profitable). This means that one cannot actually deliver fuel at non-integer distances at this price (I'll leave computing the true free-market price at such distances as an exercise).
Note that if a commercial fleet of vehicles provides fuel at all integer distances at the free-market price, then one can do better that the given solution: start with $10$ units of fuel, fill up ($1$ unit) at every integral distance from $1$ to $30$, and then use the $10$ units aboard for the remaining $10$ units of distance. The cost is then $ 10+\sum_{i=d}^{30}(\frac54)^d = 10+\frac{(5/4)^{30}-1}{1-4/5} \approx 4043.97 $ units of fuel, say $2022$ jerry-cans. The difference is due to the absence of sub-optimal tours in the commercial model.