Sure you can. If I have a fact that I know will offend someone, I don’t withhold it because they will be offended, I state it because it’s a fact. Your “intent” isn’t to offend someone, your intent is to state factual information. I’m not purposefully trying to offend someone, I am simply abiding by my code in being a realist.

It has nothing to do with whether or not you know if someone will find it offensive. Stating fact or being frank with someone isn’t meant to directly offend someone, it’s meant to state the truth, and if they are offended by it then so be it, but it’s not because you were purposefully seeking to offend/hurt their person. And how could you avoid stating the truth just because someone would be offended as an ESTP?

To say you have never unintentionally offended anyone as an ESTP doesn’t make much sense to me. Not because you don’t have the social ability to read the room and know what offends others, but because you are grounded in logic and are concrete in your views/beliefs, and you’d go to the grave supporting them. To think that you never offend anyone without intent is to believe that 1. You shape everything you say to appease others as to not offend (which is 100% contrary to ESTP types)

Or

1. You believe those around you always agree with all of the observations/statements you make, which is narcissistic.

People view ESTP’s as abrasive because they will say and do things that are needed. Not that they will take everyone’s feelings into account and selectively shift their social output as to not offend others and sugar coat evident truths that others might not like.