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This website has a very good community that can have a proper discussion, in my experience.
I think that censorship is appropriate in the cases when something may be more acceptable in Japanese culture, but will offend people in other countries (for example, Japan has different views on non-hetrosexuality, which are present in some games). In cases like these, censorship from the localisation team prevents the game causing offence, while not affecting the experience in a meaningful way. Offending groups of people is never a good thing.