Let's cook.
In a large mixing bowl, combine the sweetened condensed milk, lucuma pulp, vanilla extract, and salt. Whisk until well combined and smooth.
In a separate, chilled large bowl, whip the cold heavy cream with an electric mixer on high speed until stiff peaks form, about 3-5 minutes.
Gently fold about one-third of the whipped cream into the lucuma mixture to lighten it, then fold in the remaining whipped cream until no streaks remain.
Pour the mixture into a freezer-safe container, such as a loaf pan or an airtight plastic container.
Cover the container tightly with plastic wrap or a lid and freeze for at least 6 hours, or preferably overnight, until firm.
Before serving, let the ice cream sit at room temperature for 5-10 minutes to soften slightly for easier scooping.
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