It is possible to have highly technical, well-choreographed, non-provocative dance routines, even in teen jazz and hip-hop. The problem is when the people running the show just don't even think in those terms.
My kids go to a studio that has an optional comp team, and is not ballet-centered. I am modest and conservative, and there was not a single dance in the entire recital weekend that I would have not been okay with my kids performing. The costumes and music were all appropriate. And the dances were amazing.
It can be done. Are most directors and teachers willing to make the effort? From the discussions that pop up here frequently, it appears not.