Yes, the 2010's will require modification to fit.
This post has the most info I've found on this. The stock FJ's can handle it, the 5100's would just be better. Without a longer shock, you're not benefiting from the lift. With longer shocks, you'll get more flex and better off road performance. On road, difference is not so much.
I'm sorry, I'm not much help on the Icon's. I don't know the valve rates or the length, so not sure how they compare to either of the other shocks in question. I just prefer the Bilstein's (either 5100's or FJ) as that should be a better match for the front 5100's. The Icon's could be an awesome match, without numbers for comparison I can't say. Icon does make top notch stuff, no doubt about that.
Edit, found some more info:
Found this on the Icons. Note he does sell his own products, but IMO he's a reliable source of info. You'll also note he suggested the Bilstein's over the Icon's, never mentions his OW/Radflo shocks.
http://www.toyota120.com/forum/showp...9&postcount=10
5100's
*Collapsed Length (IN): 14.84
*Extended Length (IN): 23.62
Icon's (these are specs I was given in an old thread I found, I do not know for certain they are accurate)
14.65” compressed
23.89” extended
According to this new info, the Icon's would actually be a better choice off road due to more travel/flex. However, valve rates is one thing I've not found on the Icon's, and that's what's important for ride quality.
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