Yes, the IK for props is absolutely a must in iClone. It's been asked many times here and in FT for years.
They have a Creature type (non-human type characters). But what for??
How the heck do we supposed to animate them?
Funny, that there is check box "IK Constrain" on animation panel for creatures, but it does nothing and there is no reference to it in the manual.
Yes, we have been getting away with flex things using a soft cloth (Rampa came up with a great idea years back).
And I've been using it a lot:

But that does not substitute a basic spline type control for rigged props (specially for "hard" mechanical things).