Yes.
Only thing not to touch are shellfish, corned beef if it has been opened a couple of days or fresh chicken that is out of date.
Yoghurt is ok a day of two but not weeks out of date.
Most fresh food is okay a few days out of date, tinned food can be months out of date, jam can be a good 6 months out of date as long as it is not opened.
My rule is if it looks ok, smells ok and is not slimey then it is ok.
Oooops, read it wrong and put no.