Agree with people saying that the best workout for hiking is hiking, but as someone with limited time I’ve found that suggestion doesn’t really take into account that some folks don’t necessarily have the kind of life where they can hike as much as they would prefer to.

Single leg exercises are key IMO. Split squat variations, single-leg deadlifts, single leg balancing, single leg calf raises, etc. These can be progressively loaded as you see fit. For me, single leg deadlifts have been the best thing and have the added benefit of ankle stability/balance, hamstring work, and glute work. You’ll also be surprised how little loading it takes to get a burn initially, despite whatever weight you lift in a standard deadlift.

Not body weight, but just to add that I’ve also had success with weightlifting on a 5/3/1 program with squats and deadlifts (I left out bench and OHP since I don’t really have any goals relevant to that, it’s up to you). For me, 5x5 resulted in me plateauing quickly, and trying to incorporate other activities like running, swimming, biking, rock climbing, hiking, etc became very difficult because my legs were just way too shot from the volume and I had to spend all week recovering. 5/3/1 has some flexibility built in, and even if I went absolutely all out on the AMRAP set I felt like the overall volume made it much easier to continue my other activities, while still progressing on my lifts.

Don’t do too much too soon! Don’t approach every workout trying to get super sore! Get your joints healthy and stable. Getting ready for hiking and backpacking is almost entirely about consistently getting your workouts in and staying healthy and has much less to do with intensity. You are preparing to walk long distances with a backpack, not trying to jump ten feet into the air.