I have this problem with a 2020 XLE AWD. Cannot use the car at all with the rack attached. Weirdly, there's no ICS in my settings menu...as a matter of fact my settings menu has very little in it indeed. There's no BSM, no PCS, no nothing...basically just "reset TPMS".
Most of the settings are hidden if you're in Drive. You need to be in Park and the car in Ready Mode to see them all.