"The Lord is near to all who call upon Him, to all who call upon Him in truth." Psalm 145.18A person may be covered in sin, but if their prayer is honest, transparent and true, he will be heard and answered in due time. The Lord hates deception, hypocrisy and deceit.
Yet He loves to hear a sincere prayer.
To call upon Him in truth means to call upon Him with sincerity.