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For a less-powerful option that does use .ics format (I think) there's calcurse. It supports (but doesn't require) caldav.
There's khal, a TUI for ICS files and such. The folders with the ics files can be backed up or synchronised by whatever means you think are best.
And if you decide to self-host a CalDAV server, you can still synchronise there with vdirsyncer.
Check my TUI calendar called Calcure: https://github.com/anufrievroman/calcure
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.