You don’t have to jump off the planes or cliffs to be adventurous. You can also live an adventurous life by not accepting the status quo, not giving in, not listening to cynics, and not stopping to learn.
All it requires is the belief that anything you don’t like at any stage in your life can be changed and a daily dose of action to back that belief.
Besides the hardcore stereotypical heroics, these other “soft” kind of life adventures can also get your adrenaline rushing and give you that sense of achievement.
There is nothing sanctimonious about either of them. All it matters is to be adventurous one way or the other.