Yes using expired condoms can cause irritation to both your penis and the woman's vagina when it's inserted into the vagina.
The expired condom is made from rubber and as rubber gets older it becomes dry and brittle which creates friction on the penis and in the woman's vagina.
So when you're using an expired condom that dry and brittleness of the condom can lead to irritation so it's best to not use expired condoms.
Expired condoms could also break causing your sperm to enter the woman's vagina and cause the woman to become pregnant.
So if you're not wanting a baby then use new condoms and not expired condoms.
Or don't have the sex until you can get new condoms.