The amount of rudder required varies with the design of the airplane. In my Nynja, I needed to use the rudder a fair bit to coordinate the turns as it had straight hinged ailerons which gave a bit of adverse yaw. In the Legend, I don't need rudder to coordinate the turns as much because it has friese ailerons which mostly counter the adverse yaw. In fact, when I first got the Legend, I overused the rudder at first and in turbulence, I would get a swimming type action because of rudder overuse.
Having said all that, on long flights in smooth air, I fly with only the rudder. Once the airplane is trimmed properly, I just use the pedals to keep on track.
But back on topic, the thing that has made me a better pilot is cross country flying, and I don't mean 100NM jaunts to nearby airfields. 5-6hour flights to the outback give you time to understand your airplane, time to get confidence in your machine and yourself as a pilot. It requires you to flesh out your understanding of the weather, and study its effects over longer distances and larger areas. You start to think more about survival in remote areas and ways to minimise the time you'll be on the ground if you have to put down in a paddock or a dirt road in the middle of nowhere. My most memorable flying and which I learned the most from, was flying out to Ayers Rock, particularly flying over 245nm of the Simpson Desert.