The colour of a bra is not an aggression, major or even minor. There is a tiny chance that whatever the descriptive name given, someone, somewhere, may see it as a slur because their own skin matches the colour of that bra and they see the word used to name it as representing something nasty.
Skin may be any shade which has white, pink, beige, yellow, brown, black, or a blend of any two or more of these and even a purple hue.
Tobacco is not good for your health - neither are rich desserts full of cream and sugar, hard drugs, and a whole host of other things, including over-indulgence in alcohol, chocolate, and coffee. Possible bra colours include references to all of them, and so do skin colours. Should marketers not use any fancy terms for colours at all, but stick to red, blue, yellow and so on (of course yellow could be seen as a racist term - but golden as an alternative could be seen as a financial reference. It goes on for ever)
Slaves had to do a lot of things, involving tending field crops like cotton, sugar, corn, beans, and fruit. They cut wood and hauled water, and they cooked and cleaned and nursed. They were called Mammy or Boy.
There are a lot of innocent words in common use which have distant links to these things. Being too quick to object to them dilutes the campaign to end racism, it doesn't help it.