You should trust your nose and common sense on most things. I would make a noted exception for meat, which can make you very sick without presenting any sign of rot or decay.

Most canned food or dry shelf stable stuff is probably going to be good past it’s expiration date by a bit, but I wouldn’t push it much depending on the item. Always good to check the pantry yearly and make sure you don’t have something shoved to the back that’s getting too old.