It's not about being PC, it's about how the word is used. There's nothing wrong with the word as it's defined, but when it becomes a common insult it becomes less acceptable. Just like any other swear word.
I don't get the obsession with reintroducing negatively charged words into the common language. Isn't english a rich enough language that there's an abundance of substitutes for words?
Look at something written 500 years ago. 100 years ago. 50 years ago. Language changes all the time, and there is no stopping that. Yep, language is an endless cycle of switching out common words and adapting to social rules. I'd highly reccommend to follow that flow instead of trying to bring back the "good old days" when n-words and r-words were common and accepted.
Well queer used to be an insult but the LBGTQ+ community reclaimed it. First though, some time needs to pass and afterwards the community that was targeted needs to decide to want to use the word.