The CTWV ICV (P) is a Mitsubishi-developed infantry combat variant of the CTWV, based on the Type 16 MCV platform. It features a crewless turreted 30 mm Bushmaster and a Mk 52 chain gun. Tested in 2023-2024, it is set to be designated the Type 24 ICV, and procurement started in FY 2024 to modernize the JGSDF's IFV and rapid deployment capabilities. While the vehicle is supposedly in service, it's deployment status is currently unclear to the public, but it is most likely attached to Rapid Deployment Regiments to supplement their MCV's.

The ICV (P) was introduced in Update 2.41 "Firebirds" and provides similar offensive reconnaissance capabilities to other vehicles equipped with the 30 mm Bushmaster, such as the VBCI-2. Its crewless turret allows it to peek over cover and shoot from relative safety, exposing only the ammo and gun but keeping the crew from getting shot.