I have only known one couple who regularly recycled their stored food, using it and replacing it with new goods each time they bought anything new that they had in their stored area already. It takes vigilance most do not have the patience for. Consequently I think most folks who are storing food for emergencies are storing most of it beyond its expiration dates, and they know it; leaving the real worry about it to time of the emergency.
We reworked our supplies a few years ago. If you open expired canned food it does not look appetizing. It likely won’t kill you but it will not be pleasant to eat. I tasted some green beans and they were gross.
We transitioned to freeze dried, dehydrated and staples in sealed mylar stored in 5 gallon buckets. We got rid of everything else. We keep 3 of the blue plastic 55 gallon containers filled in our garage. Once per year we change the water out. We filter all tap water through a Big Berkey water filter. We keep 5 propane tanks filled for our gas grill.