default or selected kernelversion does not have config value CONFIG_RENESAS_RZV2H_ICU.
Result is shown for kernelversion 6.6.75

Renesas RZ/V2H(P) ICU support

modulename: irq-renesas-rzv2h.ko

configname: CONFIG_RENESAS_RZV2H_ICU

Linux Kernel Configuration
└─>Device Drivers
└─>IRQ chip support
└─>Renesas RZ/V2H(P) ICU support
In linux kernel since version 6.13 (release Date: 2025-01-19)  
Enable support for the Renesas RZ/V2H(P) Interrupt Control Unit (ICU)

source code:
selects
CONFIG_GENERIC_IRQ_CHIP
CONFIG_IRQ_DOMAIN_HIERARCHY