The censorship on Episode 4 went way overboard, I really wish it could be undone. It would make the game better.
The removed scenes are over20 minutes of story, which is completely unreasonable. Besides, the first scene with Al makes little sense since they had to rewrite all the dialogues to fit the situation of Al being naked. Neither of the cut scenes had a significant sexual tone, most of them were comedy.
The game is already rated M, there are lots of scandalous outfits, a comedy bath scene is not supposed to be a big deal. Why have the trouble to cut it, specially when the game is so rushed it couldn't even have flavor text?
As for the height restriction, I've chosen to believe that it was done for technical or balancing reasons. Restricting the height of characters as a censorship measure is too silly to be considered a possibility.