Many things could motivate someone to undertake an arduous journey. It could be loyalty, concern for another's well-being, and to procure help as it is for Telemachus. However, it could also be a way to exact revenge if some particular resource or enemy is far away.
In terms of resources, it could also be that one's home has run out of something and the only way to get more of it (oil, water, food, etc) is to travel somewhere else to secure aid. An arduous journey could also be the result of strife or hardship at home. We might think of political or religious refugees who leave home to escape persecution, war, even genocide should they stay in their homes. There are a great many reasons that someone would undertake an arduous journey and they really all involve some ardent feeling of one type or another.
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