The speaker sounds like someone asking for a kind of travel rule book, though what they ask for is closer to a way of living. The title, "Roadman," suggests a figure of the road, and the poem reads like a short request addressed to the road itself, or to some guide who knows it.
The instructions are simple. A traveler should "engage only to see," meaning look and take in the world without grabbing at it. The line about being "much more than whoring" is blunt, and it seems to set real seeing against a cheaper, more transactional way of passing through places. The poem doesn't spell this out, so that reading is an inference.
The last lines turn gentler: to "nap with joy / when in a hard bed." The speaker values contentment over comfort, and finds pleasure in simple rest after a day of moving. The mood is spare, open, and quietly appreciative, with a touch of rough humor.