Obviously these games don't have full nudity but I know there are a few bath/hot springs scenes and I was wondering if the game is somehow additionaly censored (wouldn't be the first time japanese game gets butchered when released for western market).

As far as I am aware, nothing visual or story-wise has been censored. However, there are two things that may interest you:

1. In the Vita versions, you can fully rotate the camera in the equipment screen. The camera movement was limited in the PC versions (both GOG and Steam), so it is not possible to tilt the camera at certain angles anymore. :B There is a mod out there that changes this, supposedly.

2. There are some localization changes, with certain terms being translated in "less offensive" ways. eg: in RB3, a character is referred to as "okama" in Japanese, but this was omitted in the English text and audio. Most of the time though, the changes are minor: eg. "ecchi" > "special"

While these games aren't censored AFAIK, there are some things that get "lost" or changed in the translation process. You can try RB2/RB3 the retranslation patches if you want a somehow faithful experience. You can actually tilt the camera in the equipment screen in unmodded RB1 and RB2 by pressing and holding Mouse middle button and moving the mouse up or down, the same way as RB3, except without wasting MB's on these useless plans. :P

You can try using a key remaper like antimicro to bind mouse button and axis to the controller, but it doesn't works well. :/
I don't know what mod are you talking about, but there is a Cheat Engine script table (search for "neptunia cheat engine" it should be the first result) that let's you to rotate the camera in equipment screen and remove tilt/zoom limits on dungeons. I use it to play in "first person" or top view in dungeons, very handy XD.
These tables are for the steam version, but they seem to work fine on the GOG one, even on the latest update.

idk what the mod is either, as the Steam guide that supposedly hosted it went down, along with the files. Whether it was an actual mod or a cheat table or a hacked exe, I'll never know. :'c All I know is there was something, that supposedly wasn't too hard to use, and it addressed the camera issue. Oh well!

Thanks for the tips about the cheat table and key mapper! I've never used Cheat Engine before, but hearing about what you can do with the camera in dungeons tempts me to get it working. :O