I consider this a good vs bad DM issue, not necessarily a game system issue. A good DM will offer XP for non-combat situations too even if it's not in a handbook. I guess I might have a different view on D&D vs other gaming systems because my group started with AD&D and just changed all the shit we didn't like. It was only D&D by name after a while. We had a mana system (spell mats are the worst), custom classes / races / spells, and a lot of fun. The most important part isn't the game system, it's good people to play with.