Please check both sentences and let me know what is difference between them.
He is an inspiration for us.
He is an inspiration to us.
We wouldn't really say that someone is a inspiration for us. A person can "inspire us" or be "an inspiration to us." A person can also be the inspiration for a song, a book, a movie, etc.
inspiration for = an object/idea that helped create another object/idea
inspiration to = an object/idea that motivates a person