I have been known to free solo rock climb on shrooms and acid many many times, at a high level of performance, where mistakes would be fatal. I have only climbed boulder problems on spice, and found that climbing isn't nearly as hard as getting back down again. It should be noted that I am more or less an expert with 30+ years climbing experience.
For a couple years now I have been loading sub-breakthru to breakthru size doses a few times a week and doing martial arts, with a heavy emphasis on bostaff, often on top of cliffs and other stupid stuff. A dose that would blast me out of body and paralyze me usually acts entirely different when I'm out in the crags with a bostaff in hand. It became apparent that if I was to coexist with an octopoid dragon thing, I outta try to learn from it. Although the hallucination may be nearly overwhelming, I have always been able to navigate around cliffs and bushes just fine. Everything becomes personified, the plants and rocks and mountains are all well defined characters, and they teach me kung fu and give me targets and motions to use.
Of course, this sort of behavior is extremely dangerous, and should not be attempted by anyone. However, it is ultimately satisfying to me that I have been allowed such experience. Familiarity and intent seem to be crucial aspects of performance in such a condition.