Experiencing something is a potential way to learn a great deal.
We know from cognitive science, that the learning will depend on a number of factors. For example, is the experience such that the learning outcomes are obvious, and impactful enough that they will not be forgotten (touching a hot burner)? Unless the learning is big like burning a finger, or is similar to muscle memory, automaticity, habituation type situations, most learning will require conscious awareness, deliberate practice, and reinforcement. If the experience is such that a process is altered, the learner needs to close the loop and try the process again with the new lessons in order for the learning to stick. All of this implies that the experiential activity needs to be designed carefully and that the activity is part of a larger whole, not just a single episode.