For what it's worth, I have a 1st gen tundra with the equivalent of Icon Stage 1 in the front and Stage 2 in the rear (non-resi, non CDC but with 2.5" body and internal bump stops), and Camburg UCAs. I have them set up at about 2.5" front and 1" rear. The setup rides amazing on roads with big bumps and dips. I've jumped it many times and you cannot really tell that the suspension is even bottoming out. It's like a mini Ford Raptor.
However, on rough washboard roads or sharp bumps, it is way too firm in the initial part of the stroke. I'm not sure if this is due to my truck being lighter than what they likely used for testing (access cab, plastic front bumper, no armor or winch), but it definitely feels like it is set up more for big, gradual desert bumps rather than small sharp stuff. Even on the highway it can feel like it's bouncing around a bit. To their credit though, they will re-valve them for free. I just have to find some time where I can park my truck for a week or two since it's my daily.
My advice is, if you go with Icons, give them a call. They are very helpful and can get you set up correctly to match your vehicle weight and target terrain. Or just get the CDC adjustable ones. You just have to call them beforehand rather than doing what I did and waiting to find out later.