Hi,
your questions is as good as: "should all patients on a medical ward do ACBT?" I think you might need to define ICU patient.
E.g. what is the sedation level ?; what are the nursing procedures in regards to positioning?; are you thinking about abdominal surgery? neurosurgery? orthopaedics? paediatrics?

Just a few questions to think about.

And in general: walk away from the prescription model ("all patients get PROM") and go towards an analytical approach (why would you want to perform PROM?, what would you like to achieve?, who would be at risk?).

Cheers,
Fyzzio