You will never have a fully accurate idea of how your singing sounds to other people. Whenever you sing, your ears hear something from your mouth as well as the sound transmitted through your skull, but it’s not the same thing that other people hear when they’re in the room with you. Even recordings can’t communicate it unless you are strictly a recording artist.
You might not even like your own voice if you heard it the way other people do. Or you might like it even more and wonder why you haven’t pushed yourself harder.
It’s hard to know who to trust when you get feedback on your singing. When someone tells you that you’re good, do you believe them? Why should you? When someone tells you that you aren’t good enough, do you believe them? Why should you?
In general, I prefer avoiding unnecessary leaps of faith. But with singing, you can never be 100% sure. So as long as singing is a priority for you, there’s an unavoidable leap of faith involved whenever you open your mouth.