I struggle to articulate thoughts verbally, can medication help?

I'm 27, I was diagnosed with ADHD when I was 12. I've been off meds for about 10 years now. I've seen other posts touch the subject lightly but I was never able to find enough of the info I was looking for.

I have this issue where I struggle to articulate my thoughts verbally. I forget words, I forget complete thoughts, I am never able to form an opinion properly so I just agree or disagree. Sometimes when I do speak, letters will be switched when spoken. For example I'd think of the word "depletion", I'd end up saying "deletion" (this may be my dyslexia though). My mouth just isn't able to keep up with my mind. When I do talk, or add to a subject, more times than not I come across like a bumbling idiot who's speaking non-sense. My mind is always able to keep up though, if we had the ability to speak telepathically I'd the life of the party haha.

It's something that's had a great effect on my social life. On the rare occasion that I do go out with friends I opt to remain silent for most of the time to prevent any chances of me saying something stupid. Now my question is, since I've been off meds for so long, is this an issue that taking medication can help improve? Does anybody else struggle with it, it feels like a curse.