Specifically are the 94 different from the 96?
They look the same.

 

They actually are different part numbers. The 94 ICM was fed 12 volts through the coil. The 96 ICM gets it's 12 volts externally through a harness change. As far as interchangability, it depends on pin outs. According to the schematic, the coil pin outs are reversed as far as A terminal and B terminal from 94 to 96. They do not appear to be interchangable. BTW the coils also have different part numbers.

 

Is there a way to measure the ICM with a multimeter to test if it's still good?

 

No, the only thing you can do is check the IC signal going to it from the PCM and confirm the coil is good. Obviously if both of those are good and you still have no spark, the ICM is bad.