There are four types of delivery for speeches, public speaking, or presentations: 1) Manuscript reading, 2) Memorized, 3) Impromptu, and 4) Extemporaneous. FREE 7 Instant Tips for Confident & Composed Public Speaking
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This video explores these four types of speech delivery and gives some brief advantages and drawbacks of each type.

In the end, I recommend mainly focusing on the extemporaneous style of delivery. It is the most conversational, audiences prefer it, you can use it in almost all situations and it is a scalable skill you can get better and better at.