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Politifact couldn't find evidence of prosecution for lying or refusing since 1970. https://www.politifact.com/factchecks/2014/jan/09/us-census-bureau/americans

• crooked-v 7y ago
  From what I understand, the illegality is mostly used as (a) a tool to increase the baseline number of responses, and (b) to by consequence make it illegal for anyone else to force someone to not complete the survey for some reason.