Make the crumble: Combine the nuts, dates, ground vanilla, vanilla extract, sea salt, and maple syrup in a blender. Blend on high until you have a moist, crumbly mixture. Set aside.
Make the caramel: In a small bowl, vigorously whisk together the peanut butter, maple syrup, plant-based milk, sea salt, and lemon juice. Once you have a smooth sauce, set aside.
Make the ice cream: Rinse out the blender pitcher. Open the can of coconut milk and scoop the top layer of cream, being careful to avoid the water at the bottom of the can. Transfer the coconut cream to the blender. Add the frozen bananas, vanilla, maple syrup, sea salt, and lemon juice to the blender as well. Blend the mixture on high, using a tamper to push the mixture down into the blades. Once you have a smooth mixture, stop the motor.
At this point, I had to freeze my ice cream for a good 45 minutes, stirring it up every 15 minutes. Once you have that slightly firm/soft-serve like texture, serve the ice cream with the peanut butter caramel and vanilla cake crumble.