Before continuing, I should say I've completed the portion of Episode 4's story quests we have so far (up to chapter 4). I've watched the deleted scene and to me it kind of builds on character relationships. It's not in ways that couldn't be assumed anyway, but considering Episodes 1-3 often felt like they were skipping pages of character interaction I wonder if I'm just used to gaps in writing to the point that removing a scene doesn't feel out of place?
Naw - you simply have the right of it. The scene that was removed in Episode 4 offered very little in the way of character building outside of generic anime JRPG bath-time talk (That is, devolving within two minutes into mindless groping and boob size comparisons).
The way some people were speaking, you'd be remiss for thinking that it offered some deep dive into Khori or Hitsugi's past, or Al's childish behavior...but ah...it didn't.
As others have said - nothing of value was lost with the removal of the scene. It was likely removed due to the characters in it being under aged, and Sega and Microsoft both not really wanting to deal with any kind of backlash that might come from that.
Thank you, bolded the most important part of your statement. They really just did not want to deal with potential backlash, because (and ESPECIALLY since the game is Global) there would be some kind of backlash or outcry. People complain about anything, at least nothing of importance was lost.