When I just re read it, it doesn't specifically say ICVs, but it just says if your vehicle..
Modified and non-standard vehicles - Get a NSW registration - Registration - Roads - Roads and Maritime Services
Standards
Vehicles need to comply with the Australian Design Rules and Schedule 2 of the Road Transport (Vehicle Registration) Regulation 2007.
If your vehicle complies with the standards explained in Vehicle Standards Bulletin 6 or Vehicle Standards Bulletin 14, you can be confident that it complies with applicable vehicle standards, pending certification. There are alternative methods of proving compliance, as explained in VSCCS Bulletin 2.