One thing you could try is bringing the Flame debuff with you. Icarus will hurt you A LOT every turn she isn't burning. This will make her last long since your Flame will do significantly less damage than Icarus' own. But it should still be worth it.

But there is simply a requirement of power to clear GO, and you're probably not there just yet. Tomorrow should bring us Epic Quests (Nutaku pls), and that should give you a significant boost to base HP. After that it's just a matter of time for you to max out your Grid. With a few exceptions, at that point you should be able to clear all GOs.