@servers = map { $_->{selected} ? $_->{obj} : () } @servers;
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That is just ugly for a variety of reasons, ... In fact, the map statement could probably be written more clearly as follows:

@servers = map  { $_->{obj} }
           grep { $_->{selected} } @servers;
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That’s easier to read, but it’s still pretty ugly.

I don't find the latter ugly at all, and have no problem with the former either (in fact, I prefer it, as quicker to read shorthand for the latter).