Well, there's no guarantee that it's censored. And the Restoration Team is quite good at cutting/reusing other footage to cover short gaps, such as censor cuts.
The War Machines is a great example - it was returned from Nigeria, with severe censor cuts to Episodes 3 and 4. A few were available from Australia, but others have been lost. At one point, a 1-minute cut of an attack on the factory was restored from clips elsewhere in the episode (and from Blue Peter, apparently!).