I don't think underwear is a forced censorship. Devs choose to cover main character's genitals to avoid rating issues, it's self-censorship. Game never shown full nudity in photo mode or free roaming gameplay because it was intended to be so from the beginning. Maybe underwear were added later but nude characters looked like dolls before.
Before 1.03 (and you still can get this from changing a few hexes in .exe), V wasn't a doll in the photo mode .