Is there an option to skip the cut off limbs blood and gore etc stuff?
Nope.
Violence is an intricate part of the game's DNA.
Especially regarding that scene with Jalen & Pops, there's a very lore heavy reasoning as to why that scene exists (simple reasoning:
Kaskar Family is a Family which is pretty infamous for their brutality ).
But even apart from that scene, there are scenes which are consider violent, grim, and pretty dark.
If you're someone who can get disturbed by such aspects, then I'd say that this game probably isn't for you.