It shall be customary in the houses and streets to see manly affection, The most dauntless and rude shall touch face to face lightly, The dependence of Liberty shall be lovers, The continuance of Equality shall be comrades.
…before me, Continually preceding my steps, turning upon me oft, ironically hissing low; The cities I loved so well I abandon’d and left, I sped to the certainties suitable to me, Hungering, hungering, hungering, for primal energies and Nature’s dauntlessness, I refresh’d myself with it only, I could relish it only, I waited the bursting forth of the pent fire—on the water and air waited long; But now I no longer wait, I am fully satisfied, I am glutted, I have witness’d the true…
(Not songs of loyalty alone are these, But songs of insurrection also, For I am the sworn poet of every dauntless rebel the world over, And he going with me leaves peace and routine behind him, And stakes his life to be lost at any moment.
There are no more uses of "daunt" in the book.
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It is a challenge that would daunt a lesser diplomat.