They allowed Aversa stuffing you into her chest, they allowed the numerous deaths to remain intact, hell, they allowed Nowi's boingy bits (which NoE censored) and kept the girl romancible despite some concern that she'd be cut altogether. The only major censorship was Tharja's swimsuit, and while that was a bit silly, they didn't censor the other swimsuit or yukata images either.
You guys are really being too harsh on NoA (and by extension, NA) here. They're not going to censor every single thing you love about this game, they're going to do their best to deliver the best product they can within the realms of what's acceptable, and that means working with the ESRB and the like and making sure it doesn't get bombarded by the a lot of bad publicity and/or sell poorly. Some of the lines do get rather lewd even by certain standards, the incest angle can be too much for an western audience, it's just the way that they have to adapt the game to the audience they're trying to sell to. If that means that a few lines get toned down, then that may be what happens, but they're not going to make a mockery of the games we love along the way.