Mill Creek only has a bed reputation with idiots. They're putting out great movies for the first time on BD, and doing a damn good job of it as well. The DVD you're referring to is the same master as the recently released blu, so it does have some mild cuts to a couple of episodes...which by the way is NOT Mill Creek's fault, it's Sony's, because they provided the Euro cuts, not the US cut for the master. So blaming Mill Creek is absolutely ridiculous.
If you're not interested in blu-ray, and you want the complete series, then I suggest this one, as it's fully uncut. It's the updated release of the original full set, which is beautiful by the way and definitely worth owning, I just couldn't find it on Amazon to link for you.
The only place I've found it is for sale digitally on Amazon:
What about the new set that just came out on DVD this month? https://www.amazon.com/Shield-Complete-DVD-Michael-Chiklis/dp/631775294X/ref=sr_1_3?keywords=the+shield+complete&qid=1558318753&s=movies-tv&sr=1-3
Is this basically the same as the Blu-Ray set except without the 4K?
I was thinking about buying this one cause it's more reasonably priced then the other box sets this series has had but if the episodes are censored i'll just stick with my original plan of buying each season separately.