Sure, we've made it a little more palatable over the years. We've reclaimed the Hebrew idea of repentance as turning around and returning to the Lord, but that still assumes we will admit that we've turned the wrong way at some point.
But there seems to be a different spin on the theme of repentance in the lesson from Baruch, "take off the garment of your sorrow and affliction, O Jerusalem, and put on forever the beauty of the glory from God."
Funny thing about people - we may dislike sin conceptually, but most will agree that the world is an ugly place filled with sadness and affliction. Spun this way, I think the Church really has an opportunity to teach about repentance as the removal of our self-inflicted afflictions as we put on the restorative garment of God. I know that it isn't the job of the Church to make its teaching fit society; I get that, but we do need to use language that people can both hear and buy into. Maybe that language for our time comes from a book attributed to the secretary of the prophet Jeremiah; one who called the people of Judah and Jerusalem to repentance.