Nuanced Vocabulary in Context

Amidst a realm of towering spires and mystifying shadows, an ancient scroll was discovered. It contained tales of brave knights and the mythical beasts they encountered. One unforgettable story narrated the audacious feat of a knight who ventured into the depths of a dark cavern, where a legendary dragon was said to guard an enchanted treasure. The knight, known for his valor and unfaltering resolve, faced overwhelming fear, yet he pressed on, determined to confront the formidable creature. As the tale wove through the challenges he encountered, the scroll detailed how the knight's hesitance transformed into unyielding courage, thus unraveling a deeper truth about facing one's fears.

In this context, 'audacious' most closely means: