Ran into the same exact problem. After searching online I did find the solution:
Navigate to /usr/share/icons/Arc-Icons. You should see a file named index.theme.
We need to edit that file using a text editor (nano, gedit, etc), however we will need root access first. For simplicity's sake, just right-click anywhere in that folder and select "open terminal" and you should get a terminal in the same directory (/usr/share/icons/arc-icons).
Next, type in sudo nano index.theme, and provide your password. It should open up a text editor. Scroll down until you see this part:
[Icon Theme]
Name=Arc
Inherits=Moka,Adwaita,gnome,hicolor
Comment=Arc Icon theme
Now, the line Inherits= is the one you want to edit, as basically it tells the system what icons to use if Arc is missing any icons. Change it so it looks like this:
[Icon Theme]
Name=Arc
Inherits=ubuntu-mono-dark
Comment=Arc Icon theme
This will set Arc to use the default Ubuntu icons for any missing icons, which as we've discovered it's missing several (Additional Drivers, Terminal, Software Updates, etc). Once you've edited the file, save and exit (Ctrlo then Ctrlx if you're using nano), then reboot your system. You'll notice that you still have Arc icons except for the missing ones, they revert back to default icons. Feel free to substitute ubuntu-mono-dark for your preferred icons.