Restricted ICMP (certain message types only) could be a default permit. If you have an internal service running over known virtual infrastructure to an external-facing proxy, MTU path discovery may be unnecessary anyway.
It doesn't have to be nazi, just better than nothing.
(re DNS: the DNS protocol uses both TCP and UDP interchangeably, it switches to TCP when the message size crosses a threshold. Many kinds of DNS messages can be over the limit. See eg https://github.com/moby/moby/issues/24344)
ICMP is a well known gotcha and the only such protocol in its class.
I've personally never seen a fallback to TCP requirement in the wild but you could easily say "if DNS then enable both protocols" as a general rule, and add <received wisdom>.
These are easy to add as policies and will result in better rules than manually configured systems in many cases, if documented. Everyone's happy.
For example, and ingress-only static content webserver would not require any outbound internet access.
The same approach could and should be used for other observable and manageable layers (filesystem access, syscalls, language interpreter-specific function call whitelisting, etc.).
I am waiting for a security-focused CI/CD tool to own this space. Even a light touch implementation would surely improve greatly on the status quo.