Why do you think “real” ice cream is “soft”? Ever watch Good Eats with Alton Brown? If not, I recommend recording him. He has Good Eats Rebooted (or something similar) now, where he explains the science behind things like sugar and its uses. Unfortunately, he uses seed oils and has a lot of high carb recipes, but he does a good job with the science of cooking.
For some things, like smoked meats, sugar is used to caramelize and create complex flavors. I don’t mind using real sugar for a coating on smoked meats, as you don’t have much sugar and a ton of meat. However, I wouldn’t mind getting even fewer carbs.
I have some allulose coming. If I make a recipe, I’ll post what I made.