Timid, shy almost 4 yr old?

My almost 4 year old has been around mostly adults growing up (no siblings or cousins). He was at daycare when he was younger and did great socially, but his nature is that hes a bit timid and shy and takes time to warm up to people.

Whenever i take him around a group of people who he doesnt know, he always says “mama hold me hold me im scared” 🥺 eventually he warms up to them but it takes some time.

Anyone else had a shy child and how did you help them?