I would much prefer people bumbling over their words but speaking off-the-cuff than people who sound like they are reading something scripted by the PR department off a teleprompter.
“But somehow, in the act of making something with a great deal of care and love, something is transmitted there. And it’s a way of expressing to the rest of our species our deep appreciation.
"So, we need to be true to who we are and remember what’s really important to us. That’s what’s going to keep Apple, Apple, is if we keep us, us"
- Steve Jobs.
Besides that, yes not having planned speeches and speaking your mind unfiltered are traits that I would absolutely expect to see in the same person. They are different expressions of the same thinking process. I'm sure a lot of us have read that Thailand is were pedos go etc. But most people would have the restrain to not call someone attacking them a pedo.
Musk tweeting some guy is a pedo has NOTHING to do with his public speaking skills. It wasn't in a public speaking setting.