You haven't flown through IMC without a clearance, have you? Technically, you can fly in IMC without a clearance in Class G airspace, because it's not controlled. Controlled airspace simply means you need a clearance to fly in the clouds. Class G airspace is uncontrolled, so it's not illegal to fly in the clouds.
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So, as a general answer, in the U.S., flight at altitudes at and above 18,000 feet (5.49 km) above mean sea level requires a flight plan (an Instrument Flight Rules flight plan - known as IFR) and joyriding/offroading as you put it, is not permitted.
Let's say the weather at your airport is IFR but clear a few miles away. While the VFR-only pilot will have to wait for the weather to improve, the IFR pilot can depart on an IFR flight plan, then cancel the IFR flight plan when they are in VFR conditions.
It's important to remember that VFR and IFR are sets of rules that apply both to pilots and airplanes. Some airplanes will be equipped to fly using both, but others are only VFR equipped. It's important to double-check your plane and make sure you are properly equipped.
But as an instrument pilot, you have an option. You can “air file,” or file an IFR flight plan while en route. Ideally, this would involve calling up the nearest ATC frequency, stating your N number, and waiting for a controller to acknowledge your transmission.
The answer depends on a number of things, like where you're going and what kind of airspace you'll be in. In general, you should file your IFR flight plan at least 60 minutes before you leave. This will give the authorities enough time to look over your flight plan and make sure everything is in order.
14 CFR 91.169 (b) (2) (i) states that an alternate airport is not required if “for at least 1 hour before and for 1 hour after the estimated time of arrival the ceiling will be at least 2000 feet above the airport elevation and the visibility will be at least 3 statute miles.” To help remember those conditions of the ...
This brings us to IFR (instrument flight rule) pilots. IFR flying is astronomically more challenging than VFR flying, but those pilots who achieve this distinction are invariably more equipped to fly IFR and VFR. Aviating under IFR, a pilot is authorized to fly into clouds in what is called zero visibility.
Why Do Pilots Prefer IFR Over VFR? IFR provides pilots with greater flexibility when it comes to controlled airspace, weather conditions, and career opportunities.
Filing a flight plan with the FAA is optional when flying VFR unless your flight takes you across the Air Defense Identification Zone (ADIZ), a Distance Early Warning Identification Zone (DEWIZ), or international airspace.