Oh please, the anime aired uncensored in Brazil and many other countries, and it was a hit.
In Brazil and other countries from Central and South America, the only thing that was changed (aside from the character's names, obviously) was Zoisite's gender, and to this day I believe it was because of a miscommunication or mistake. Everything else was kept, including the original score and Uranus and Neptune's relationship.
Saint Seiya aired uncensored, as well, and it was even more popular than Sailor Moon --and Saint Seiya is very gory and violent and has characters who seem or are gay.
Cardcaptor Sakura aired in Brazil completely uncensored and not even the character's names were changed.
No, Sailor Moon wasn't a hit in Brazil. It was a moderate success, but both times the show was on air, it ultimately failed in the sales department. The licensed products didn't sell well.
Record (a TV station owned by a neopentecostal church) actually bought both R and S, but never aired the S season, and I bet that was because of Haruka and Michiru. If it wasn't for Cartoon Network BR, we would never have got to see the whole series. (Tho I think wish R-Stars would be better not airing than being broadcast with that awful dub). And I bet that could happen because most people didn't have access to cable in Brazil in the early 2000s, so there was no room for controversy.
You can take Mexico and Italy as countries where Sailor Moon was an actual hit. Where in Italy the Stars season never got a second rerun until 2010, in Mexico all seasons were pulled off from TV Azteca's schedule, under claims of the series promoting "homosexuality" and " satanism".
The faithful versions weren't able to deal with zero controversy like you are saying. And even though they were closer to the original version, the dialogues were always softened when it came to homosexuality and other taboo subjects. Specially in Italy, where a famous conservative female psycologist blamed Sailor Moon for confusing young boys about their sexuality.
And Zoisite's gender-swapping in the latin spanish and brazilian portuguese dubs was straight-forward censorship. Don't be fooled, that happened even in Sweden, let alone latino countries.