Is an uncensored release of "Dakara, Boku wa H! ga Dekinai" released yet
All six BD/DVD volumes of Dakara, Boku wa H ga Dekinai have been released in Japan, and Volume 6 was released on February 20th, 2013. The BD version is uncensored as far as it is allowed for a non R18+ work.

Here are a few comparison screenshots from Kira Reviews. TV version on the left, uncensored BD version on the right. Both images are from volume 1 (episode 1 and 2).