Getting away from public relays was the entire point of building Nostr. đ€·ââïž Public relays _have_ to censor, as the people running them answer to the larger public and can't host anything the majority of the sovereign would find overly offensive.
The goal of Nostr is actually to have lots of different, easily-created and easily-maintained PRIVATE relays, where the person running it just answers to himself and any customers he might have, rather than needing to achieve some wider consensus.