Sounds like y'all have a great troop and do a bunch of fun stuff and lots of good ideas on here!
Some that have been big hits for us:
Hard hat tour at Longhorn Caverns (Camped at Inks Lake). Water up to our waist in places, squeezing through very tight places, covered in mud when we were done, very fun!
Survival campouts, for example at Mustang Island SP - They built shelters in the sand, desalinated salt water (just enough to taste, took forever to get just a little bit), etc.. At least one survival campout each year. The youth pick a location, then they usually ask the leaders to create a scenario that they don't know until they arrive, and then they have to come up with a plan in the scenario and "survive" the weekend with very limited resources.
Multi day canoe treks - Smithville to La Grange is awesome for a three day weekend.There's some great islands and sand bars to stop for meals and to camp on. We've done this trek a couple of times in January. Game. Changer.
Bad weather weekends. Cold temps, lots of rain, etc. The stories afterwards are amazing! Overcoming adversity builds resilience.
We camped at Goliad when they had a TPWD event recently and also toured the Haunted Yorktown Memorial Hospital that weekend. Yorktown is literally falling apart, not sure how they keep the place open, but the scouts had a blast with the cheesy stories. Never heard of Yorktown until our SPL brought it up but why not, let's go!