Of course it does. “There is therefore now no condemnation…” is a “now” verse. The declaration is true every moment, every day.
It is true in the morning. It is true in the night. And when tomorrow comes, it is still true. There is presently, continuously, no condemnation for you because you are in Christ! What will give you the boldness to go to God is the knowledge that He sees you completely righteous.
“Shouldn’t we be at least a little bit condemned when we fail, so that we would return to God?” When Adam was condemned, he hid from God. Beloved, when you fail, condemnation and guilt will cause you to run from God’s presence.
It is a lie that condemnation and guilt will lead you back to God. What will give you the boldness to go to Him is the knowledge that today, He is ever gracious and He sees you completely righteous.
What will cause you to go boldly before His throne of grace is the knowledge that He will never condemn you because you are in Jesus Christ!