Need to re-wire so the constant AC is the living room and the either/or is the bedroom or the garage. As for the ice, high humidity and high temps with the AC temp set at 68 or below will freeze you up. Try raising the temps to 72 and using a fan to help circulate the air in the Th. Also use the down vents to quick cool the unit and then switch to the ducts by shutting the Vents. I have found that the duct work can freeze up the TH AC when my living room and Bedroom down vents are closed and forcing air through the duct work when I'm trying to cool it down from a hot drive. Seems silly, but it's happened multiple times.
If you stay in RV parks and use 50 amp service, think about a re wire for all three AC's at once. It will help your problem a ton.