Installing icaclient Raspberry Pi OS
Download the official Citrix Workspace app for Debian available from Citrix (https://www.citrix.com/downloads/workspace-app/linux/workspace-app-for-linux-latest.html)
The Raspberry Pi has an Arm processor, he package needed is the Citrix Workspace app for Linux (ARM HF).
Install the package by
sudo apt install ./<ICA Client Package name>
You do not need anything from prior distro. Apt will install the dependencies.
You might get an SSL error when connecting the following should fix the error
sudo ln -s /usr/share/ca-certificates/mozilla/* /opt/Citrix/ICAClient/keystore/cacerts/