Has your family given you an example of when you used it and they felt that it was wrong or offensive?
according to them it's not a word that should ever be used in public, full stop. when i gave an example of "crimen asqueroso" miesposo dismissed it completely saying another adjective has to be used.
i pressed the subject in terms of an insult as well and he claims that calling someone "asqueroso" is exactly as bad as calling them HDP.
maybe he's influenced by his mother, who refused any further conversation on the subject saying that "she was not brought up to use such vocabulary".