I have managed to use ICSP in my current devices.
I take a 100K-resistor from VDD to MCLR, so I can connect ICSP to MCLR direct.
RB6 and RB7 are connected to the ICSP and have 100K Pullups for normal function of the device.
100K are like isolation for the signals.
5V is connected through a 1N5818 to the PICs VDD, and this signal is connected to ICSP.
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