I'm currently running stock 4.0.4 and rSAP works out the box.
ICS is okay, but Samsung have loaded it with a lot of junk: I'd LOVE to get something lighter like JB (CM10 is fine).
Car: Audi A6 TFSI @ 375bhp, MY12, MMI touch, BT High.
Primary: LG G5 H850 stock MM6.0.1.
Projects: SGS2(GT-i9100 on CM13) + lots of Nexus7's with various builds.
eBay soon: SGS5 Prime (SM-906K), SGS4 (GTi9505), SGS4 Active (GT-i9525).