From my understanding, the censorship in both versions, Latin American and Spanish, is minimal.
The Latin American dub change Zoicite to be female, where in the Castilian dub they were both male but deemed "uncle and nephew" which is mildly less bothersome in my opinion, as it doesn't interfere too much in appreciating the homosexual relationship from the source material. They also changed Fisheye's gender but went back on it mid season, but left him with a female voice actor.
Aside from that, the Latin American dub also commits a few sins that are difficult to get behind, like deeming the Senshi "Sailor Scouts" which is not even a Spanish term... like if you're going to use a foreign language term to describe them why not dub them with the original Japanese term? They also refer to the Dark Kingdom as "The Negaverse" again with no good reason.