Buy a non-Nexus and non-Motorola Android phone, install CyanogenMod or AOKP, and (optionally) install a non-Play Store app store. (This is all fairly quick and simple to do with recent-ish major Samsung phones, at the very least.)
Or wait until an Ubuntu phone comes out.
(EDIT: For clarification, I am NOT saying any of this would be RMS-friendly, just a bit more open and less privacy-invasive than the norm right now.)
I'm not saying it's an ideal solution, but are there any better solutions smartphone-wise right now?
And yes, Samsung. Because if we're going to pick off every phone manufacturer for every misdeed they've done, there won't be any left to actually buy a phone from.
To throw just any one name into the discussion - what about Asus? I haven't heard anything bad about them since they've twittered that booth babe picture.
You convince your loved ones to switch to something else. If they won't, then you must realize that, deep in your heart, you love freedom more than you love your loved ones, and must switch to non-video calls or other methods of communication.