There is quite a few places to go within 4 or 5 hours. The closest is probally KS Rocks Park outside of Ft Scott, KS. You also have manhattan, KS there is Tuttle Creek. Then you have Disney, D-Day in OK, Flat Nasty closer to the east side of MO, Hannible Rocks in the NE corner of MO, I think there are some more but I don't remember all of them.
Ks Rocks is the only one I've been to so someone else will have to chime in on others. Ks Rocks is a 210 acre park with lots of stuff to do. They have about 65 trails and such. Most of it's trails with rocky inclines but there are some bottomless mudpits.www.ksrockspark.com