My Troop has an excellent backpacking program and a few very dedicated kids. A high percentage become Eagle Scouts.
I've met a few other high quality Troops that do lots of climbing, backpacking, sailing and cool stuff.
Scout Camp on Catalina Island rocks! Best waterfront in the world.
When I started in Troop 345 in Moocow, Iduntno there were bullies, regular hazing, and depantsing & wedgies were a constant menace. The older as#@&%es aged out, I took over at age 15 and we had a damn good time with the long-hair Senior Patrol Leader who had those sleepy red eyes lots of the time.
It seems many of the really fun Troops are more secular. Discipline, only as needed to get things done. Uniforms cool once you start to get toppings on the pizza.
What Scouting needs is more competent outdoorsmen like you and less of the oldies trying to force kids into some past template in their mind.
There is nothing wrong with the basic structure of Scouting. It is generic, common sense, and non-denominational. Any unit that is not all about fun first is destined to die.