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Ensure your icon.svg file exists within the base theme, in the following directory 'your_theme/images/icons.svg'.
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To include an SVG icon in a twig template, add the following in the relevant html.twig file:
{{ icon('icon-name', 'Icon title') }}
Credit to https://www.lullabot.com/articles/better-svg-sprite-reuse-in-drupal-8 for the fundamentals of this.