Here are some examples:
* Bilbo Baggins: Though initially hesitant, Bilbo eventually embarks on a perilous quest with the dwarves, demonstrating audacity in his willingness to step outside his comfort zone and face danger. His stealing of the Arkenstone from Smaug, while technically a theft, displays a boldness and courage that even the dwarves admire.
* Thorin Oakenshield: Thorin, the leader of the dwarves, is known for his boldness and determination to reclaim his ancestral home in Erebor. His refusal to compromise with the other races in the area, while ultimately leading to conflict, reflects his audacious nature.
* The Dwarves: The entire company of dwarves exhibits audacity in their quest to reclaim their lost home. They venture into dangerous territory, face down fierce enemies, and ultimately fight for what they believe in, demonstrating courage and boldness throughout their journey.
While the word "audacious" itself may not appear in The Hobbit, the concept it embodies is woven throughout the story, shaping the characters and their actions.