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Yeah so adventure mode has actually been in Dwarf Fortress Classic for a very long time! What just entered beta is actually adventure mode for the new remastered version of the game which you can find on itch.io or Steam.
The latest Dwarf Fortress Classic version is at 50.12 which is up to date with Dwarf Fortress Remastered. I think you can only access the new beta version for adventure mode on Steam though. If you want to play Adventure mode on Classic you just open up a world you made and a screen should ask if you want to start “Fortress,” “Adventure,” or “Legends” and from there just select Adventure. Happy to help!
The controls are slightly different and there’s little bits of QOL over the classic version too, but yeah it’s basically the same game and the developers are working hard to keep them at pace with one another for people interested but not willing to commit to the $30. The remaster also has an ASCII mode which I like for whenever I wanna play a little old-school. :)