The category banner theme component has the option to override the icon color in banners (so it always matches the banner text color)… so you could enable this

and set the icon color in the category icons theme component:
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I could see how setting the color for each icon would be unpleasant for many categories though, so if you want it all one color, you could use CSS instead:
.badge-category__icon .d-icon {
color: var(--primary-high);
}