As an encouragement, I think practice really makes a big difference.
There’s this one podcast I listen to (Story Nerd). The first season, you could hear that the hosts were reading all material that they prepared in advance. It was a bit dry sometimes but I was interested in their approach which is why I stuck around despite that.
And in later seasons they sounded better and better. I’m sure they’re still reading their notes but it no longer sounds like they’re reading. It sounds more like they’re speaking to me.
Practice, confidence, and I think the approach makes a difference too. Imagine you’re speaking to one particular person, not giving a speech to a crowd.