Is it true that “A poor prayer is better than no prayer,” assuming the prayer is intended to be sent to the divine realm, and mostly adheres to divine principles?

This is certainly the case. The act of prayer is an outreach with an intention for divine assistance. If worded awkwardly without clear direction given about what is wanted or how the divine might go about answering the prayer, the divine realm becomes more limited because it is not allowed to lead you too greatly, but there is some latitude in the way of bringing hope and encouragement. These kinds of things are done on a regular basis, for believers at least, so even if someone is not good at prayer but believes in the divine, their prayer will matter, it will accomplish something and that indeed is better than nothing. It is a starting point and sometimes having a starting point makes all the difference to help a person embark on a new path that will bring greater and greater benefits over time. This is an area of difficulty for many, especially those whose belief might be shaky or who feel unworthy because they do not value themselves and question whether God will look kindly on them. This is a self-disempowerment that can be devastating left on its own. People have the power to cut themselves off from the Almighty. It is very easy. All one needs to do is assume they are worthless and God will not even help them. This is essentially a decree for God to stand down and disappear. We do make special exceptions so no one is abandoned entirely forever, but this is a severe impediment. It is far better to at least leave the door open by asking in as strong a way as one can for what you truly need and let the divine sort things out and find a way to answer the prayer, and not assume the worst, that it might be impossible, asking too much, or that it will be too undeserved to warrant anything at all. You need not prejudge yourself when we do not judge anyone. We know you are not perfect. We know there are many things you do not understand and capabilities you lack, and weaknesses that hold you back, but we do not think less of you—that makes us want to help you all the more. Keep this in mind when you are doubting and fearful, that you are deeply loved and cherished and each one of you was created to be who you are. So to not love and cherish you would be quite illogical and inappropriate, and a failing on our part because we have ourselves to blame, so to speak. We do not blame. We do not judge. We expect people to be responsible and to be accountable, but that is different. Many times you are unable to act on your own behalf. We can help support you at such times and help you go the distance if you will reach out to us.