I know this, because I work for a registrar and was privy to the 2013 RAA negotiations.
No doubt, some assholes out there will try it, but I know we won't.
"there's no real need to charge people to unsuspend the domain"
By that token there is no need to charge people for many things that businesses charge for that don't cost them any money at all (or a nominal amount) and are pure profit. Or even to charge for bringing a domain out of redemption over and above the actual reimbursed cost for doing so. The fact also that some registrars charge typically or don't charge shouldn't really enter into the picture of "scummy" or "not scummy" by any company that chooses to have a different process.
Not that by what I am saying it should matter but the mere fact that you are putting a name on hold means that your support or customer service costs should in theory increase. If a name is on hold then that means a customer could call or write an email which has to be addressed by a person possibly. And there is a cost to providing that service. It is not zero obviously.