After some more experimenting, I found two solutions. With a clean install of IceCat, run icecat in --safe-mode, open up the options menu, toggle hardware acceleration on then off again without closing the menu between toggles, and the boot crash stops happening. (Sounds weird, I know, but it works for me.)
Otherwise, uninstalling the Nvidia graphics card drivers also stops this new IceCat boot crash. -jc
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