Yeah, xterm won't work for sure, you'll need
uxterm to get UNICODE support. It's lightweight brother,
urxvt is pretty damn good too. That's for the output.
As for the input, you'll also have to enable full 8-bit input in
/etc/inputrc, and set up some locale that supports UTF-8 (for example "en_US.utf-8"), otherwise you won't be able to enter BMP code points, and you'll be limited to ASCII (it strongly depends on distro how it is configured by default). I don't know about kitty, tilda etc., but this has to be set up correctly for all terminals that depend on the readline library (like uxterm and urxvt, and probably xfce4-terminal too).
Cheers,
bzt