We tend to stock our pantry canned goods well in advance, and do a pretty good job rotating stock. But occasionally, something out of date shows up.
Had 'em with lunch today. Maybe, just maybe, there was some degraded taste. But I hardly noticed.
Of course, you should usually try to consume food items within their posted dates. But expiration dates aren't necessarily a drop dead date. So when I come across an old can, I'll check it out before discarding. Goes without saying, it the contents look bad, go ahead and discard 'em.