Yes, trying not to offend people is fundamentally important to working together. "How do I know what offends a particular person?" Basic cultural competency wi

Yes, trying not to offend people is fundamentally important to working together. "How do I know what offends a particular person?" Basic cultural competency will dictate that there are words or stereotypes that are considered offensive to certain people. Outside of that, yes, you will probably make mistakes and aggrieve people from time to time. Again, making an occasional social blunder is a basic part of human relationships. When that happens, listen to why the person is offended. Often they will have real, good reasons that center on them feeling disrespected, and having that disrespect hurt their career or life. Then, apologize sincerely. Then, don't continue making the same mistake, that would be extremely disrespectful. If you wholesale disagree and think the offended person is being trivial or absurd, just don't bring it up or find a new place to work.