well lately i've taken to hitchhiking/hopping rides on freight trains, by myself
i sleep in parks, cemetaries, etc. sometimes i bring a tent, but i usually don't use it anyway.
i visit national parks, and explore/sleep out in the backcountry. most recently Zion national park.
i'm planning a trip to Mexico, down Baja California. gonna hitchhike, maybe hop a few freights. live on a beach. should be fun.
now im not saying boy scouts should start hopping freight trains and hitchhiking, but i DO think they should start doing a bit more than the standard scout camp bullstuff. premade campsites, even DINING HALLS at some camps, pre-planned activities, outdated merit badges that have been useless for the last 50 years. you don't really learn anything too useful from all that. you never have to WORRY - there's always somewhere to sleep, always something to eat, something to drink. all the hard stuff is done for you.
there's nothing quite like running low on water, having an empty stomach, and watching the sun set as you still don't have a place to sleep or anything to eat. you really learn to think on your feet.