There are quite a number of poems concerning spiritual and philosophical awakening. In fact, there are types of poetry dedicated to spiritual awakening. The Suffi poets are one group to look into, along with the Hindu works, The Upanishads and The Bhagavad Gita.
You also may be interested in looking into the Romantic Poets of England and the Transcendentalists of the US. William Blake, Percy Shelley, Walt Whitman and Ralph Waldo Emerson are the four poets that would top my list when searching for poems dedicated to spiritual or philosophical awakening.
To point to a single poem, I'd suggest "Mont Blanc" by Shelley.