I did some googling on this issue and looked at some other forums and it looks the ICS USB issue is a complicated mess (rooting, MTP, corrupt kernels, flashing roms and all kinds of hyper-technical weirdness that made my eyes glaze over).
Any suggestions on how I can select an ICS phone that easily appears when I plug it into a PC? Full disclosure: I soon plan to ditch Windows and go Ubuntu-only. Does MTP work on Linux? I'm guessing if a phone shows up as a USB storage device in Windows, it will easily do the same in Ubuntu. Valid assumption?