"ICR" is used for an image of handwritten text. "OCR" cannot process an image of handwritten text.
Regardless, for PDF "tagged" means something very specific in context of accessibility (such as in accessible to those with disabilities).
Your best long term solution would be to create a digital form that mimics the paper form. Then populate it.
Or perhaps setting up the files such that you could use an MS Word "mail merge". The output the resultant file(s) to PDF.
This'll get the job done.
Be well...