@love This can be turned off (caveat: only by the uploader) in Youtube Studio.

Go to: Youtube Studio, Settings, Under "Content" turn "Censor auto-captions" off.

This should be up to the viewer, to be clear, and not the uploader (who may not even be aware that this option exists, because Youtube is great at hiding/removing features that actually benefit people...)

Edit: on desktop, go to Settings, Channel, Advanced Settings, Automatic Captions (Don't show potentially inappropriate words)