Non competative day rides (Bike clubs, Audax/randonee style)
Hostel/motel touring (no camping)
Self supported expeditions
Supported tours commercial/charity.
Just Riding Along.
My favourite style of touring is hostelling. Some people call it "credit card" touring but in fact you need to take stuff with you just like on any holiday, just not a heavy camping load.
If you live in a wilderness area rather than European style bike country, then camping is the best choice.
I'm not a fan of riding for charity, I think cycling has its own worth and you dont need to justify cycling by raising money for anything.
You can get bikes designed for each of these styles of riding:
Light touring
Club touring/hostelling
Expedition/camping
Get the heaviest duty you think you will really need.