To this day, has Raj still never talked in front of Penny under normal conditions? Or have they let that slide?
Yes - In season 1 Episode 07 - 3 min in - Raj responds to Leonard's proposal to cut him in half in front of Penny who is well past the front door so in the same room and there is no alcohol involved.
And again, in season 1 Episode 07 - 20 min in - Raj is screaming in front of Penny and 3 of her friends when they are playing Halo 3 (not sure Halo is normal conditions though). They were quite sloppy in this episode.