I don't support bad behavior but I also don't support changing the original integrity of art. There are plenty of movies where the actors have done questionable shit in their personal lives - yet the movies are not re-released with a different actor. So why is this so for anime and games?
After Nintendo screamed so much recently about not doing censorship, the choice to replace the voice actor for the main character is kinda ironic. Anyways, I'm skipping FE: Three Houses, plenty of games out there that stayed true to the way they were meant to be experience from day 1.
How is this censorship in any way?
Does it change any expressed opinion? No, the text stays exactly the same.
Does it infringe the free speech of anyone involved? No, the old VA can still say whatever he wants.
Does it change the artistic intent of the creator? The English voice actors were not chosen by Intelligent Systems, but NoA, who also chose the new voice actor, because they think he is the better choice. The English and Japanese voices are still decided by the same people as originally.
The one who did change the artistic intent was the old voice actor. The intent of Intelligent Systems was for the voice to have an effect on the players only by its sound. Now a lot of players will have negative feelings about the old voice, which will reduce their joy. Now they reconstruct it to give the same impression as it did before the incident.
What do you want them to do? Do you want to force a company to favor assholes over decent people? Why is it that almost every time people cry about "censorship" it not about actual censorship, but because people who are treating women or minorities shitty don't get any special protection.