You should distinguish between Ordinals - which publishes significant amounts of data on Bitcoin - and approaches like RGB which doesn't. In fact, with further improvements RGB can even become so efficient that literally billions of NFT transactions per second could be handled with just a single Bitcoin transaction: https://petertodd.org/2017/scalable-single-use-seal-asset-transfer

Also, the single-use-seal approach that RGB uses is 100% censorship resistant. It is hopeless for miners to even try to censor it. Utterly hopeless.