I assume 'whore' is offensive whereas sex workers/prostitutes/hooker/street hooker/on-call-girls is not?
It depends on the sex worker. Here's where we get into more detail on what exactly the differences are:
"Sex work" is the whole shebang. Pornography, hooking, stripping, dominatrix, and tea-room Huslting. Sex+Work=Sex Work. That's the Spectrum across the entire industry.
Prostitution is sex for money. Specifically a consensual exchange of goods for services rendered, whether it's a hand job, or contract rap fantasy reinactiment in your personal dungeon. Let's call that one end of the spectrum.
"Hooking" originally referred to turnpike prostitution. "You need a ride?"
It also includes the Street walker, though can be a catch-all term for hit it and quit it 1 time deals. She looks nice, "How much" entry level prostitution.
"Strawberry" is one you didn't specifically mention, but is an addict offering sex for drugs. "Suck yo dick fo a rock!"
Call Girl is getting nebulous, but generally means "We deliver." Originally, yes. If you discretely asked the manager at a nice enough hotel, he probably had some numbers, but that was back in the days of Ma Bell. Nowadays, they tend to use Craigslist, but at this level of the profession (Hookers are considered Amateurs) you can expect such things as TGFE, Fantasy, and a regular appointment. "Same time next week, John?"
Of course a Pimp/Madam is a Management position.
Technically a Whore works in a Whorehouse, however it's been used as an insult as well. Pretty much since the term replaced Harlot in the lexicon. The subdle difference is a Call Girl is order yout, while a Whore House is more like a Restraunt. There you can also get TGFE, and they often have Fantasy rooms if you have something specific in mind.
However, it's always an insult when you equate stripping, porn stars, and modeling to Whoring. It's not even the same industry. Modeling isn't even sex work, though some models may also do sex work (Like pornography) on the side. Much like a mechanic can fix your porch if he needs the money.