> When my friends do leave the USA, it seems to largely land them at resorts, or guided tours, or other "on rails" tourist experiences that disconnect them from the day-to-day life of people who live in those places.

I share your distaste for resorts and guided tours, but if a person can only get one week off, these are safe options.

For my first real trip, I had to quit my job to get sufficient time off. They would not allow time off even without pay.