They provide on-chain privacy via Whirlpool regardless of whether or not they have your xpub. If you think Samourai will collaborate with someone to demix and doxx you, run your own node and don't give them your xpubs.
They've made their position on this very clear (even talked about in a recent pod) - SW have considered forcing users to run their own node, but that would make their on-chain privacy tools unavailable for those who are not able to run their own node. So they opt to provide that as an option for users.
The reason they use xpubs is to make the wallet as light as possible on the client side so that it can perform well on the go, even when using a mobile connection and Tor.
