Don't want to upset your dream of a world full of people that you're less fragile than, lmfno16, but thinking about what songs make it to your set lists isn't the same universe as being offended.
Songs have to pass a time-and-place test. Imagine you're in Charlottesville, Virginia (which ya might have heard has been dealing with some Nazi and KKK turmoil), picking the warmup playlist for a woman's college basketball team a most of the players are black. Does this whimsical little number fit the bill:
Gold Coast slave ship bound for cotton fields
Sold in the market down in New Orleans
Scarred old slaver knows he's doin' all right
Hear him whip the women just around midnight
Brown Sugar, how come you taste so good?
Brown Sugar, just like a young girl should
If your take is, "Sure! That's a great song for any occasion!" then ya got no sense.
Same deal with picking your bands' songbook: time and place. Do you play Kanye's "Gold Digger" or Jordan Davis's "Singles You Up" at a wedding gig? Songs like "Brown Sugar" or "Sympathy for the Devil" are like trotting out senile old Hugh Heffner at a gig. If you're pretty sure your crowds will either adore Heffner ("he's a timeless classic who has aged brilliantly!") or think he's an ironically hilarious fossil who is in on the joke, then go ahead and pull the trigger.
If you don't think about your lyrics but your audiences do, you're setting yourself up for stupid problems. If somebody asks, "should I add Brown Sugar to my cover band's setlist? It seems like a kinda cheerful and cheeky dance floor number" then yeah, I want to suggest listening to the lyrics before you decide. Then, if you figure you and your crowds are reliably down with the Brown Sugar persona, have at it. I played that song at biker parties in the 80s, and it killed. Got a cover band these days playing bars, clubs, or parties and are pretty sure that song's a good fit for your crowd? Well, it's a big ole world full of all kinds. I don't want to be at those gigs personally, but I'm glad y'all have a place you can hang out.