Depends on Who's Doing the Asking

Fake census form--can you tell? (cleveland.com)

Too intrusive: A New York Federal judge has ruled that the census cannot ask about citizenship: [bold added]

“Secretary Ross’s decision to add a citizenship question to the 2020 census—even if it did not violate the Constitution itself—was unlawful for a multitude of independent reasons and must be set aside,” wrote U.S. District Judge Jesse Furman, who had presided over a trial about the question last year.

The decision comes as a result of two lawsuits filed by cities, states and left-leaning advocacy groups. The plaintiffs had argued adding the question ignored the Census Bureau’s own research, would lead to a significant undercount and was motivated by discrimination against immigrants.

There's a lot of mind-reading going on here, because there are no direct quotes, audiotapes, or videos of Census officials being "motivated by discrimination against immigrants", but as one who deplores the government's intrusion into our lives I like the ruling. I am in favor of satisfying the Constitutional requirement for a census ("Enumeration") and no more:

The actual Enumeration shall be made within three Years after the first Meeting of the Congress of the United States, and within every subsequent Term of ten Years, in such Manner as they shall by Law direct,----Article I, Section 2

Not intrusive: the Democratic Governor of Oregon wants officials to visit the home of every newborn:

One of the more ambitious items tucked into Gov. Kate Brown's agenda for 2019 is a home-visitation program for the families of new infants.

All new infants.

Of course, it's for the welfare of the babies and their families.

The census may not ask a question, but Oregon may enter your home. An intrusion is okay if the right people are doing it.