If anyone balked, it was probably UPN. DS9 had previously had a really torrid and really controversial lesbian kiss in "Rejoined," but it was syndicated and thus not subject to as much censorship. And UPN had pretty much built its whole existence as a network around Voyager
, so they were reluctant to take any real risks with it, which is why it so often tended to be a formulaic "TNG-lite" show rather than really taking advantage of its premise.
But that's just a semi-educated guess. We don't really know as much about the behind-the-scenes decisions on VGR and ENT as we do for the other series. The producers of those shows weren't as open about the process for some reason, and the Voyager Companion
has virtually no discussion of the creative process or what went on behind the scenes.