My husband's lack of confidence is a turn off

I [32F] have been married to my husband [35F] for 8 years. He's a lovely human being, very loving and supportive. He shares the chores and household responsibilities despite bringing in the bigger salary. He always tries to do things for me, like learning how to knit or cook. We also share similar interests, political and religious views, and our sense of humor is similar.

However he's a socially anxious person who is extremely underconfident in public. He hesitates to place orders in restaurants, for example, or ask for directions. He also doesn't want to inconvenience people so he constantly tries to make himself smaller and always says "sorry" for the smallest things. He fears confrontation too so will go to great lengths to avoid it. While I completely understand that this is because his parents were overtly critical and shamed him throughout his childhood, it's starting to wear me down and make me resentful.

I don't believe in "traditional" gender roles by any measure, but I'd like him to show some confidence and leadership sometimes. I struggle with underconfidence too but I still try to put in an effort to overcome it. It's usually me taking the charge when we are out and making micro decisions. I didn't mind it at first but now it really bugs me.

How can I communicate this to him? Is there any way I can help him gain some confidence?