I love wasps, I think they are one of the most gorgeous things here, yet I don’t think as a wasp I would be able to appreciate beauty. If I must also face parasitic infections, starvation, cold, and being eaten alive, I think I would stay as I am and enjoy watching instead.
However, the real answer must be a bird. Any bird. Even a despised feral pigeon can fly in a way that we can never achieve, even with a Skunkswork budget.
Something migratory, perhaps an albatros, though they mostly fly over monotonous ocean, and lack a little in vitality of flight. So I suppose the answer must be a swift. Never to settle, to see the jungles, the savannah, the grasslands, the temperate forests, even the cities, and always on the wing.