Hesitation is honest in small doses and costly in large ones
The ear reads uncertainty accurately, which makes it a signal worth spending carefully.
A speaker who pauses before a difficult claim, who reaches for a word and settles for a slightly imperfect one, sounds like a person thinking. That is worth a great deal. It tells the listener that the material is being handled rather than recited, and it gives permission for the listener's own uncertainty. Perfectly fluent explanation of genuinely hard material can be quietly alienating, because it implies the difficulty is the listener's alone. A little visible effort keeps everybody in the same room.
Past a threshold the same signal inverts completely. Frequent stalling, restarts, and abandoned sentences stop reading as thought and start reading as unpreparedness, and once the listener has made that judgement they are no longer following the argument. They are assessing the speaker. Nothing in the material recovers from that, because attention has moved to a different question entirely. The threshold is lower than people hope and is judged by the ear far more harshly than by the eye.
The workable position is that hesitation should be about the ideas and not about the recall. Struggling to find the right formulation for a subtle point is credible. Struggling to remember what comes next is not, and the listener can tell the two apart with remarkable reliability. Preparation buys the second kind of fluency without eliminating the first, which is exactly the trade worth making: know the shape completely, and let the words remain genuinely unfixed.