Combine the apples, brown sugar, orange liqueur, cinnamon stick, lemon juice, lemon zest and pinch of salt in a medium saucepan. Cover and cook over medium-low heat, stirring occasionally, until the apples are tender, about 30 minutes.
In a large bowl, add the ice cream. Add the walnuts and maple syrup and stir well to combine. Scoop out the ice cream into 4 dishes and top with some of the warm apple compote. Drizzle with butterscotch sauce and sprinkle with the granola. Serve immediately.