The Roman orator Quintilian has a thing or two to say about making jokes at the expense of groups of people:
I have already noted, when talking of jokes, how unworthy it is to go after someone’s circumstances in life, and there is no call for nastiness against classes, ethnicities, or nations, either.Quintilian, The Institute of Oratory 11.1.86
(My own translation)
Now, Quintilian is specifically speaking here about how to comport oneself as an advocate in court, and he goes on to say that if your opponent comes from a group whose moral qualities might seem dubious to a Roman jury, like soldiers or tax farmers, it may sometimes be appropriate to make a joke at their expense. His advice is tactical, not moral: this is how you sway a jury and win your case. Still, it’s good advice in general that “just joking” about people’s ethnicities, origins, or life circumstances is not a great way to get people on your side, in ancient Rome or today.
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