Vicar comes from vicarious which means a substitute. Christ does not need a substitute on earth either.
The problem that the RCC has is that neither the list of Bishops from Hyppolytus or from the Nicene fathers has Peter listed as one of the Bishops. The whole thing about Apostolic succession falls on it’s face for them.
Substitute is not the same as replacement.
Definition of VICAR
1
: one serving as a substitute or agent; specifically : an administrative deputy
2
: an ecclesiastical agent: as a : a Church of England incumbent receiving a stipend but not the tithes of a parish b : a member of the Episcopal clergy or laity who has charge of a mission or chapel c : a member of the clergy who exercises a broad pastoral responsibility as the representative of a prelate
— vic·ar·ship noun
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Origin of VICAR
Middle English, from Anglo-French, from Latin vicarius, from vicarius vicarious
First Known Use: 14th century