Isekai Saihate Onsen Kikou

Overview

Aiden is a man who works as a soldier in a certain kingdom. He has memories of being an office worker in another world, and in his previous life, he enjoyed visiting hot springs to relieve the fatigue of daily work. He wants to visit the hot springs in this world, but his job as a soldier doesn't allow him to take consecutive days off, so he can only go to nearby hot springs. The story begins when he finds out that Milka, the princess of the country, also likes hot springs. (Source: Natalie, translated)

Source: AniList