That’s a thing in...one edition of D&D , basically.
Issa joke? Gotta be.
Curiosity and a greatly reduced fear response, certainly would. And curiosity would be...the most prominent common trait amongst adventurers.
And you keep ignoring all the other traits of halflings, like fierce loyalty, being quick to form bonds, a sense of community and especially duty to the community (ie, thing needs doing, I can do it, therefor I am obligated to do it. And bonus, I’m not afraid of doing it).
Seriously the only thing counting against halfling adventurers is “they love a hot meal and a warm fire”, while the stack of traits pointing them toward adventure is at least half a dozen very compelling traits.
Lemme say it again.
Halfling are great adventurers. However halfling society as written discourages many of the popular drives and motivation to be an adventurer.
Power
Glory
Wealth
Revenge
Perfection
Protection
Knowledge
And replaces them with Curiosity and Companionship.
And that's seems weird to me to have your top 4 iconic race so limited.