The kicho hyung in KSW is NOT the taikyoku/kibon/kicho forms used in karate and TKD/TSD. It's much more dynamic and soft.
YW, it's literally been decades since I dabbled with Kuk Sool, but I don't remember Kicho being the 6th form. It was the first one taught to white belts. Looking for a rendition on Youtube reveals a performance pretty close to what I recall learning. Is this familiar to you?