There are really only two things we need to have a relationship with our Almighty God: 1) We need to have confidence in ourselves to speak and be heard. 2) We need to speak out loud to God. That's it. That's two things and neither one of them costs money or takes up any space in this world. They are free and completely portable.
Equipped with those two things, we can build a solid, satisfying relationship with God, wherever we are, however we show up today. Dovid Mark's video below is the best one I've ever heard on the subject of speaking easily and naturally to God. It's generous, welcoming and freeing. I will listen to it often!