Has the word "accost" only negative meaning? Or can you, for exemple, accost a person on the street or in the bar just to talk et know her better?

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For me, it's always a way to approach and address someone boldly or aggressively.

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Hello,
The word "accost" does not have only negative meaning. It means to confront boldly, it also means to approach, especially with a greeting, question or remark.
Yes, you can accost a person on the street or in the bar just to talk to her and know her better.
Regards.