Communication is at the heart of all healthy relationships. Good communication helps us navigate through life together and build trust and understanding between each other. Part of this is about communicating our boundaries in a respectful way.
Having healthy boundaries means respecting and valuing our own needs just as much as we value others' needs.
Building trust helps us feel safe to talk about what we want and need with the other person. When we are vulnerable with the other person, we create space for them to be vulnerable, feel safe, and trust us too. This goes both ways — which is good to realize when we're hesitating to take the first step towards the other person.
It requires some work in the process of getting to know and expressing yourself in relationships. Tune in and trust yourself. Sometimes, we don't set boundaries because we don't know what we want. But it's never too late to find out.