Even high adventure can be done at a lower cost when not through BSA (which I think uses it as a profit center). When we go to BWCA we never go through Northern Tier (too expensive).
The good news is that our insurance rates should drop a ton after bankruptcy. With no assets left, the lawyers would have nothing to sue to obtain. Will we see fees drop back down with the reduction in insurance costs?
There is a sense that bigger is worse. Growing up, our default camping locations:
Adjacent a water dam (no swimming, just hiking and fishing)
Lakes on conservancy land (again no swimming)
The trail that cut across our county.
The back of a farm
The county fair grounds (our campsite actually was an "exhibit" for the Bicentennial)
A church camp that needed a trail built during the off-season
The county airport (SM put a gnarly orienteering course there)
The nearest summer camp ... we'd do Klondike there in the winter
We had so many low-budget options that state park rangers would have to ask us to camp in their primitive sites.