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Impudence
Connotation
Impudence carries a negative tone, suggesting lack of respect or decency in someone's behavior or speech. 
Context Matters
Use 'impudence' in situations where someone behaves in an unexpectedly disrespectful way, especially towards authority. 
Culturally Sensitive
In some cultures, what is considered impudence may be seen as confidence elsewhere, so be aware of cultural contexts. 