The word "experience" encompasses many kinds of contact, which is why it is often modified in various ways. It is not redundant to say "first-hand experience" or "direct experience". These are commonly used and broadly understood. There is no reason "lived experience" should be any different, and indeed I think it is more of an anti-woke shibboleth to make fun of this than it is a woke shibboleth to use it. Normal people with no skin on either side of that game understand it perfectly well.