I honestly think the dancers seeming "off" or "held back" during BIU has more to do with the latitude they were given than an instruction to hold back. Just from the gif of the DB video, they look more structured, military, traditional Janet than they do on the tour. On the tour, they look like they've been allowed to add their own "flavor" to the choreography: something only Janet used to do before. There are basic steps everyone is doing, but they're adding their own touches in the execution.