I think it relates to something innovative, original, so being bold is fine because it's better to make original moves than copycat others or just sit back
He was an audacious explorer.
He was audacious in his pursuit of the movie star.
The audacious firefighter saved the two people in the burning building.
Audaciousness is the abstract noun form for the adjective audacious.
Unrattled.....
Brazen
brazen
Audacious derives from the Latin word audax, meaning "brave, daring". When declined, this Latin adjective took the form audac-.Audacious has been in the English language since at least 1550. Audacity dates back to at least 1450.
An antonym for the word "audacious" is "timid." While "audacious" describes someone who is bold, daring, or willing to take risks, "timid" refers to someone who is shy, hesitant, or lacking in confidence. Other possible antonyms include "cautious" and "meek."
Annabelle was so audacious that she called her teacher incompetent int he middle of class.
You could use it anywhere you would use "daring" or "reckless". for example: "He had an audacious plan to swim across the English Channel at night."
Disrespectful, insolent, brash, cheeky, forward, audacious, sassy...