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Normally yes, with the usual caveats. Be very careful not to purchase cans whose structural integrity has been compromised or that are swollen from internal pressure. “Sell-by” dates have factored in shelf time after purchase and so are pretty generous in most cases. I ate a five-year-old can of soup a couple of weeks ago while rotating my basement stash and it tasted just fine. YMMV.

I ate a five-year-old can of soup a couple of weeks ago while rotating my basement stash and it tasted just fine.

I've been rotating stuff recently too. I ran across a few cans that were 2005-2009. Some cans didn't even have expiration dates and I knew from they labels (which have changes over the years) they were a few years old.

When I open them, I consider: (1) do they smell okay, (2) do they look okay.

Some foods have a higher acid content and would probably turn bad faster.

As others mentioned, look for rust or corrosion or leakage. Cans that have severely bulged ends (top/bottom) should be avoided. Botulism can cause that, IIRC.