I have taken international trips with a very good tour company. One of the things they do is take us to a local school and they ask that we bring school supplies along. The children usually put on a show for us. The kids are always excited and so are we to meet them. If allowed, we can also make cash donations to the school. A senior lady on one of my trips returned to the school the next year and taught English for six weeks.
The definition of "experience" is "what you got when you didn't get what you expected". In October, I'm going to do a zip line course and do a "canopy tour" on bridges strung between high trees (one bridge is 180 feet in the air). I'm expecting some experiences. If I don't come back, you'll know why. In lieu of flowers, memorial donations can be made to the "What Possessed Me to Do THAT? Society".
Some tour companies offer cooking vacations, wine-making classes, art and architecture appreciation tours, vintage train rides, any number of interesting things that will enrich your lives.