I am looking for a way to hook SMSManager or a lower level mechanism such that I can intercept, read and cancel any outgoing SMS messages before they are sent.
What about a compromise? Why not create an app to write sms? Users may choose it as the default app for writing sms so it won't bother them all the time. I believe that this is the only way to come close to your goal without rooting / providing your own Android version.