Yes, there are often words where they have a strong undercurrent of rudery amongst those who know, but people in an official capacity (who may or may not have any sense of humour) will not realise - or there may be some deniability - and so they will be allowed through.
I remember an episode of Some Mothers Do 'Ave 'Em, where an authority figure used the word Herbert, because it was his own actual name, but the viewer was clearly supposed to understand it in context as implying 'homosexual' (obviously, they were very different times). He was testing Frank with a simple word logic puzzle:
"My sister Amanda has three children; my brother Alan has two children; but I do not have any children, because I am a Herbert".
The double-intendre was very clear in the phrasing; otherwise, he would surely just have said "My name is Herbert".
The one that I think is the most surprising is the word 'berk' - which has long been widely used as a completely innocent, child-friendly word, the equivalent of 'silly billy' - when it's actually rhyming slang for probably the most offensive word that you could possibly call somebody: as in 'Berkshire Hunt'.