One of my favorite Texas explorers is Cabeza de Vaca.
A junior officer from a family recognized for bravery, Cabeza de Vaca found himself the senior ranking survivor following a hurricane shipwreck. Stranded among a native American tribe of cannibals, Cabeza de Vaca managed to negotiate with his original captors and get his men to relative safety among friendlier tribesmen inland. The small band of survivors trekked Texas for SEVEN YEARS as they searched for Spanish soldiers who might help them.
You might enjoy this animated movie about him.