Here are some other options depending on the context:
* Pakikipagsanib - This word implies joining or participating in an adventure.
* Pangyayaring kapana-panabik - This phrase literally means "exciting event" and can be used to describe an adventurous experience.
* Paglalakbay - This word means "journey" and can be used to describe an adventurous trip or expedition.
The best word to use will depend on the specific context of the adventure you are referring to.