I would send my kids to Baden-Powell scouting if that was an option.
That's the single biggest problem with scouting - your experience is going to be largely dependent on the adult leadership. You can have dramatically different experiences depending on what pack or troop you're in and leadership changes often make what was a good experience a poor one.
The high-adventure trips were the best part for me. The multi-week canoeing trip in the boundary waters between Minnesota and Canada (northern-tier), multi-week sailing trip and snorkeling in the Florida Keys, the Philmont backing trip, etc. Our troop took backpacking trips on the Appalachian Trail in Georgia, Talladega national forest in Alabama, etc. Many fun memories with family and friends.
I was in 3 troops as a kid due to moving around. The troop in the Chicago area was a fantastic example of a by-the-book Boy Scout troop. The scouts ran the show and the adults only got involved if we were about to do something very stupid (making non-dangerous mistakes and learning from them is an important part of maturing), or if the decision required an adult to sign off (spending troop money, etc.). The one in Alabama was more laid back, kind of boy and adult led, but the adults definitely did more of the work than the chicago area troop. The one in the bay area I joined ended up being a rich kid dick measuring contest and I quickly left the troop, which was the end of my time in the Boy Scouts.
[1]: https://www.adventurescoutsusa.org/#:~:text=Adventure%20Scou....
What's the difference?
vs.
https://en.wikipedia.org/wiki/Boy_Scouts_of_America
Baden-Powell scouting is co-ed, non-religious, and founded in the 70s. Boy Scouts of America is the 'original' version, and, as recently as 15 years ago (I think some of this has changed since) explicitly excluded atheists, girls, and gay kids. BSA leadership is (or was, I think this has changed) heavily influenced by conservative Mormons.
Also, they culturally appropriate the fuck out of Native American culture. Think white suburban dads dancing around with costume jewelry and plastic headdresses dancing 'native style' dances to 'commune with the Great Spirit of the land'.
I'm glad of my time spent in BSA, but I wish I'd had the opportunity for BP instead.