I can't think of any stories where Hercules is shown having trouble dealing with the cultural norms of modern society but I can think of time when he made a small reference to how at least one thing is different today than it was in ancient times/culture.
In the opening pages of "Incredible Hulk" #110, during the World War Hulk story arc, Renegades Hercules, Namora and the Angel are watching as Madison Square Garden is transformed into a gladiatorial arena. Witnessing this and knowing the Hulk had defeated and captured those he held responsible for his exile and the deaths of his wife and unborn child, the Angel asks Hercules and Namora if they had any doubts about taking the Hulk's side. Namora responds saying "Your'"heroes' massacred his people, Angel. He should split them gullet to groin and ring the city with their spiked heads." Angel tells her she freaks him out when she says things like that and Hercules likens her words to "talking trash." Angel says to the others, "Fine. I just want to make sure we all know that eviserating people for whatever reason is a very bad thing." Hercules replies, "Aye, that it is. In this millenium, anyway."
In this simple response Hercules is providing commentary about at least one difference in what was was acceptable in times past and what is acceptable in the modern day. Hercules isn't saying it was wrong to do so in the past but he does agree it's considered wrong now. This story (or more specifically: this response) doesn't show Hercules having trouble adapting to modern culture but it does show that he's aware of some differences.
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