I know someone who organizes amazing trips off the beaten path to very cool places. For example Safaris on Private reserves with smaller groups and better access.

That being said, if you're looking to stay in places like Four Seasons, St. Regis, etc... forget-about-it. You'll never get anything close to authentic if that is the scope of your requirements then the trips they offer won't fit the bill.

Remember: life begins just outside of your comfort zone.