Non-over populated is probably your most difficult criteria. Have you thought about New Zealand (in their Summer)? There are only a couple of million people in the whole country, it has spectacular scenery, strong Maori culture, is very safe and is famous for all the outdoor adventure activities they offer. Another suggestion would be Fiji. There are many beautiful tropical islands, it is warm all year round, the Fijians have a great culture and you can go snorkelling right off the beach in a lot of places. Maybe you could do some island hopping (google sailing Fiji/kayaking Fiji for some ideas). Alternatively you could go to Australia (only 21 million people in a huge country). Northern Australia is hot all year round. If you are really adventurous and want to get away from crowds of people try doing a tour from Broome to Darwin across the Kimberlies. It is one of the most stunning places in the world.
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