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My children answer each other with "yeah". but to me it is always "yes ma'am".
That too is a "southern" thing.
I, too, use sweetie and darlin, BUT ALWAYS with a younger recipent.
It is a way too casual / familiar endearment to use with those who are older than you.
RESPECT means that you should honor others feelings.
If they are offended by your use of "darlin", then you should respect their wishes.
Legally, the law does recognize it as a form of sexual harassment.
There are MANY women who have been called "darlin" and not in a complimentary / non-degrading manner.
When I was a kid, we lived in Denver and visited my grandparents in Alexandria La.
They insisted we call them Ma'am and Sir. It was very weird for us. Then my Dad who was a Yank would get it in his head that we should call him and my mother the same. Fortunately it only lasted a few days.
Like you said it's just a southern thing.
Actually, down here, calling people ma'am or sir isn't a "Southern" thing at all-it's a respect thing.
The only problem with it is, once YOU start getting called ma'am or sir, you think, "Gee, I must be getting old."