More context needed I think.
There are some words and phrases that aren’t ok in any way - racist, homophobic, ableist terms, to cite just a few.
There are other words that are fine and acceptable in every setting, including at work.
And then there are other words that are fine with family and friends but probably not anywhere else - like swearing, or certain types of casual language. I think for most people “weird” would fall into this latter group.
All humans judge others. It’s nonsense to suggest that you don’t. It’s part of our innate survival instinct. Sometimes it’s ok to share those thoughts with a trusted audience - sometimes you need to keep them to yourself. We all have different lines on what’s ok.
I’m AuDHD and am definitely weird. And I’m absolutely ok with that. I quite like my weirdness tbh.
Aside from the really unpleasant slurs, I think usually it’s less about the words used and more about the intent. If someone laughingly said about me “aaah she’s a bit weird” I’d have zero issues. But if they were being spiteful and trying to influence others into not being friends with me by calling me weird, I’d be pretty cross.