Will therapy make me more confident?

Question in the title.

I'm very avoidant. I avoid most conflict at all cost, except when the matter is non negotiable for me. But that's rarely the case.

I'm more likely to just let things happen. I don't take initiative and feel bad at even the slightest suspicion that I could be a burden. I'm very self critical and second guess much of what I do and say and plan.

Can therapy and healing change this? Right now I'm practicing lots of emotion work, self regulation and taking my needs seriously. Will that carry over?