Having a warlike culture or species isn't a problem . . . it's when being "warlike" is a trait every member of that species or culture shares.
Klingons are a great example, as they started out as fairly cardboard cartoon villains with racial coding. but over the many years of Trek shows and movies, Klingons have been developed and become a more well-rounded alien culture. First was the pairing of war and honor . . . and later we get non-warrior Klingons including scientists and diplomats. There was even a recent episode of Lower Decks that introduced us to Klingon farmers!
Klingons have developed into a culture dominated by the warrior class . . . but not with all members being warriors. Non-warriors are second class citizens, but are important and vital parts of Klingon culture. Klingon culture is no longer monolithic and not all Klingons agree on how things should be done!
We can do the same with orcs. If orcs are a warlike culture of "barbarians" . . . sure, why not? Orc culture could be dominated by the warrior caste, but are all orcs warriors? Are orcs warlike because they are savage, bloodthirsty, and innately evil . . . or are they warlike like the Romans and plenty of other human cultures, to expand territory and acquire resources at the expense of their neighbors. Do all orcs agree with this aggressiveness? Or are orcs responding to colonialist humans, elves, and dwarves infringing on their ancestral territories?
We don't have to change orcs so much as develop their culture deeper, like Star Trek has done with the Klingons over time.
Heck, even the orcs in Tolkein's Middle-Earth get a smidge of development in this manner in the new Rings of Power TV show.