I think you're right. I have thought about this a lot for my own writing, so far mainly in my fan fiction, but to some extent in my original fiction. I've come to the conclusion that it's impossible to write exactly like people would have written earlier than say, the early 20th century, or possibly, if one is really good, maybe the late 19th century. It's enough to use some more old-fashioned words. It's the same when it comes to a dialect or a language the character is supposed to be speaking. If you write in English and I write in Swedish, it's still possible to convey the impression that here is a person who is speaking, say Ancient Greek, or Medieval German or whatever. And yes, people did use what we today think of as 'bad' or 'strong' words, simply because they didn't have clinical terms for sex or other body functions. It's only after the 17th or 18th century that we've had the words based mainly on Latin or Greek that we have today.

Also since they didn't have the same sense of shame attached to some of these words that we do, they wouldn't understand our use of such clinical terms anyway.

If you mean Ancient times, and earlier, yes, absolutely. It may be difficult for us to completely understand their view of things like sex, love, friendship etc.

Try reading 1001 nights unabridged at the tender age of 12. LOL That's where my sex ed and early linguistic studies came from.

That one would sure do it!
I was reading all the Greek and Egyptian myths I could get my hands on. Lots of Robert Lewis Stevenson and JRR Tolkien, etc.

The boys had all the fun!
Ayla was fun and the world building breathtaking, initially. But I eventually, grew bored with the author's attempts to teach her husband how to do sex right. And Ayla invented EVERYTHING! There had to be something for the others to discover/invent.