For macOS I simply use an .icns file, and keep the Asset Catalog with only iconstack-based icons.
If you want proper glass icons, this approach won't work.
In Xcode 26 beta3 one could indeed use Image Composer icons for Tahoe and also let an .incs file be generated based on the App Icon image stack in the Asset Catalog. That gave Tahoe full glass icon support while older macOS versions took the icons from the .incs file (instead of the Assets.car file). However this was apparently just a bug, made possible by the fact that Xcode added only the 1024x1024 legacy render of the Icon Composer icon to Assets.car's image stack, leaving room for older macOS versions to fallback to the .incs file which is always generated (even in beta4) using the Asset Catalog App Icon.
Since beta4 however if an Icon Composer icon is present, the image stack in Assets.car contains all Icon Composer assets and color data, bundled with all size variants of a rendered version, using the standard legacy icon format (using the old corner radius). Because of this even though the .incs file is there and is still generated based on the Asset Catalog's App Icon image stack, it is not used by legacy macOS versions - macOS always prefers the Asset Catalog icons (no fallback is happening to the .incs file).