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I'm not sure that books really inspired me to go out and explore. I like books about the outdoors, but I'm pretty sure I enjoyed them before I ever read much.
But, when I actually go hiking/camping/backpacking, I like to take a book of poetry. Good poems can be short and satisfying, so that I don't need to spend a long time reading when there are other things to be doing, but so I can still get the satisfaction of reading something that inspires me to better-enjoy my surroundings.
I'm big on all the later Romantics, when outdoors, but a book of poems I particularly enjoyed recently was Parsimony, from David Troupes. He's also the author of the Buttercup Festival comics and, whether in the comic strip or poems, is fantastic at inspiring a sense of wonder in me, at least.
Pic is of my favorite of the buttercup festival comics. I laugh every time.