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.
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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