Be careful with the Allulose. As it is a sugar alcohol, in large quantities it can make your tummy and bottom have issues. Try making some simple syrup if you have the granulated kind, and use it to sweeten some drinks to see if your stomach can handle it.
That said, Allulose is the best bet to achieve the closest result to real sugar. Make small batches, and only make it as sweet as it needs to be or augment it with other sweeteners.
But, since you were using maple syrup I will point out that it is a special kind of sugar that has been converted, and will help make creamy ice cream with less crystallization. You won't get that from regular sugar until you start to caramelize it.
Other types are corn syrup (dark and light), glucose syrup, sweetened condensed milk, agave nectar... Yeah. :)
You can get less crystallization if you add a splash of alcohol to the base as well. It can be something flavorless, sometimes flavoured alcohols can benefit. Like, Bailey's, flavoured rums, or cocktail spirits.