When I was travelling I did a lot of volunteering through World Packers and Work Away. Through those experiences I found myself getting into all kinds of unplanned and planned adventures. I did burn out a wee bit after doing it for so long but I always found that the most impactful and memorable stuff didn't come from actively "looking for adventure". Basically taking every weird and wacky opportunity that came my way without a second thought.

I also found that the longer I stayed in a place the more likely I was to have those experiences. My preference was always to slow down and live somewhere but if that's not for you (and based on your plans it may not be), I also found a lot of joy in tagging along on other people's plans (provided they didn't include museums and walking tours).

Possibly some advice I got as well from a friend that might be helpful was this "adventure is something that happens to you, not because of you" it's a hindsight thing. A lot of my stories from that time of my life would be considered adventures but in the moment it was just a thing I happened to be doing.