The RF properties of the four ion cyclotron range of frequencies (ICRF) antennas in the ASDEX Upgrade tokamak are characterized in H-mode magnetically perturbed 3D discharges. An n = 2 magnetic perturbation (MP) field is applied and rigidly rotated, which allows diagnosing the separatrix displacement and consequent coupling change. We find the antenna loading resistance to be coherently modified by the resulting non-axisymmetric plasma equilibria, thus becoming a function of the applied MP field poloidal mode spectra. We perform a detailed statistical analysis, which correlates the change in loading resistance to the fast wave R-cutoff layer movements. From it, a 1D scaling is derived that differs from previous studies evaluated in pure axisymmetric plasma conditions. This experimentally derived scaling is used to predict the average loading resistance change of the ITER ICRF antenna under applied MPs. ICRF coupling simulations using measured 1D density profiles are performed with the RAPLICASOL code, in order to investigate the predictive capabilities of numerical state of the art tools. We find that both 1D conventional scaling laws and 1D numerical simulations fail to capture the 3D physics, and can substantially overestimate the measured loading resistance change up to a factor of ∼3.