I've been working on this for months, with iClone 6, 6.5, 7 Alpha and Beta. I'm still working on it. My previous attempts used alembic exports but they ended up being 10GB+ in size for each animation, so I'm now working on divided-up characters.
I did put it on the forums on the wishlist posts, but no luck so far
I'm experimenting with some newly inspired techniques now. I'll update this thread with anything I come up with. Sorry I couldn't give you the answer straight out but I just wanted to let you know you're not alone, and also to ask if you can update this thread if you come up with any answers.
Cheers!