The game did get released on the PS2. IT even appeared a week before the GameCube version.
Yeah, Sony required censorship, as was said. Microsoft did too, in fact -- only the Gamecube version is uncensored. Another similar case is Conker's Bad Fur Day, where the N64 version had only minimal censorship, while the Xbox remake had every single swear censored over. I'm sure there are some other such examples as well. Usually when Nintendo-platform versions of third party titles are tamer it's because of publisher self-censorship; Nintendo is quite rarely involved. This has been true since late 1994 and the launch of the ESRB system, and people still don't get it just because Nintendo's own games are never M rated? It's kind of annoying... I mean, when Nintendo approved entirely uncensored releases of Doom and Mortal Kombat 2 for SNES in 1995, I'd think that people would realize that the era of Nintendo banning such things that had previously existed was over. Just because Nintendo doesn't make such things in house doesn't mean they've blocked third parties from releasing them ever since the ESRB rating system came into being, besides for the AO rating ban that all console manufacturers have of course, and stuff like this game that none of them would approve either, and a few other specific cases.
So yeah, while religious content is different from swearing or nudity, I don't expect Sony or MS to approve this for their consoles either, if they try, for the same reason Nintendo didn't.