Yes I have used outdated cans a lot of the time as things get pushed back and don't always get brought to the front of my canned goods as well as boxed goods. As long as the can doesn't have any bulges in it (Never us anything with a bulged can regardless of what date it has) it should be okay. And, if it is any consolation, yes I have had days like that.
I try to keep a pretty good stash (overkill sometimes) of canned and boxed goods, as the nearest grocery store is right at 18 miles from me, so one doesn't run in for an item or two, you make it count at today's gas prices.
Don't think I have made taco soup with cream of chicken soup, would you share your recipe? It sounds good!