Audacity

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late Middle English: from medieval Latin audacitas, from audax, audac- ‘bold’ (see audacious).

wiktionary

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From late Middle English audacite, from Medieval Latin audacitas, from Latin audax(“bold”), from audeō(“I am bold, I dare”).

etymonline

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audacity (n.)

early 15c., "boldness, courage, daring; vigor, animation," from Medieval Latin audacitas "boldness," from Latin audacis genitive of audax "bold, daring; rash, foolhardy" (see audacious). In English, the meaning "presumptuous impudence," implying contempt of moral restraint, is from 1530s.