Endeavour? (Inspector Morse fan!) My eldest DS is Arthur, it means both 'bear' and 'he who is as strong as a rock' so not quite 'brave' but not far off. If you can't find a name meaning those things that you like how about thinking of people you admire who have those qualities and naming your DC after them?
Some irish names if you are interested............ Aoife (EE-fe) From the Old Irish Aífe, a goddess name meaning 'beautiful, radiant, joyful'. In a tale of apprenticeship of the Ulster hero Cú Chulainn, Aífe was the fiercest woman warrior in the world. Aileen (ay-leen) From the old Irish ail meaning noble.. The -een is a diminutive, so little noble one. It is a variation of Eileen. Brigid, Bridget The name comes from the Irish brigh meaning powerful or high one. While mostly associated with St Brigid, it is actually a much older Celtic name. In fact St Brigid predates Christianity too, and was the most important goddess of Celtic times. Caitríona - (ka-TREE-na) This is the Irish version of the name Cathleen.Revered for her courage and purity Gormlaith - (GOORM-la) From the Old Irish gorm, meaning splendid + flaith, meaning 'queen, sovereignty'. An especially popular Irish girl name throughout medieval times, shared by many queens Laoise - (LEE sha) Irish form of the name Louise, Laoise means 'radiant girl' Maebh (may-vuh) An ancient Irish name meaning bringer of great joy or enchanting one. Meave was a legendary Queen of Connaught (the west of Ireland) who invaded Ulster. Rian Rhionnan (ree-an/ree-an-on) Means little King, can be used for boys also but is usually a girls name. Also found in Wales. Rionach (ria-nock or Ree on ah) Means like a queen or regal.
Órla - (OHR-la) From the Old Irish ór, meaning 'gold' + flaith, meaning 'sovereignty, queen'. Brian Boru's sister and daughter were both named Órla, so it has always been a very popular Irish baby girl name, Sadhbh (sighve) Means goodness Saoirse (seersha) Means freedom.