Jokes are Half Meant, so Never throw a joke at someone you don't know personally

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I would always be careful with whom I joke with. Sometimes, my jokes could be insulting, especially if it's half meant. When I was a corporate trainer, sometimes, we have to crack jokes to break the ice. And, to make it more effective, I would sometimes joke about anybody in the room, and sometimes, about myself. However, I need to make sure that this person can take the joke, and not be offended, otherwise it would also be bad for my career. But, in my regular life, I don't easily crack a joke about someone to their face, if I don't know them personally. Similarly, I don't want any stranger or mere acquiantance to be kidding me, when they barely know me. What's your stand on this?