The Bible shows us that we can pray for boldness. And, we should! Paul asked the church at Ephesus to pray for him for boldness.
Acts 4:29-31
Now, Lord, consider their threats and enable your servants to speak your word with great boldness.

Stretch out your hand to heal and perform signs and wonders through the name of your holy servant Jesus.”

After they prayed, the place where they were meeting was shaken. And they were all filled with the Holy Spirit and spoke the word of God boldly.

This great man of God, said, “Praying always . . . for all saints. And for me, that utterance may be given unto me, that I may open my mouth BOLDLY, to make known the mystery of the gospel. For which I am an ambassador in bonds: that therein I may speak BOLDLY, as I ought to speak” (Eph. 6:18–20). And so, let us pray together.

Isaiah 40 Comfort ye, comfort ye my people, saith your God.

2 Speak ye comfortably to Jerusalem, and cry unto her, that her warfare is accomplished, that her iniquity is pardoned: for she hath received of the Lord's hand double for all her sins.

3 The voice of him that crieth in the wilderness, Prepare ye the way of the Lord, make straight in the desert a highway for our God.