Trouble with being "respectful"?

Trouble with being "respectful"? Wondering if anyone else has a similar experience. No matter who I talk to, whether it's a friend, classmate, work colleague, my boss, parents, etc. I always talk in pretty much the same casual chit chatty way because I know it's how I'll stutter least. Some aspect of this may be autism, but I think it's mostly a stutter. I just feel like it's better to appear a bit too casual and be able to say what I want to say than it is to stutter a lot but seem more formal.