I think a socially adept person will not have a problem even if someone is a bit nervous or shy.
Personally, I believe shyness/showing some nervousness is actually a good sign: you're not coming across as overwhelming but the fact you're nervous shows you want to make good impression. I would actually argue that for someone to comment on mumbling or other signs of nervousness shows their lack of social skills as it's going to make the person feel more uncomfortable.
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