I didn’t quite understand your post, so with a Google search for “Galaxy Quest uncensored”, I found the following article that shed light on the matter:
http://www.geeksofdoom.com/2012/03/10/wait-what-galaxy-quest-was-initially-r-rated
The best best is probably a “For Your Consideration” copy, to check if that contains the uncensored dialogue. I had a look in the usual places but nothing came up.