I've met many Scout groups on trails and most have been well behaved enough not to be a problem. Leaders run the gamut from clueless to excellent. Some boys have grown to be fine men, partly because of their affilation with the BSA.
The problem with BSA is their adherence to what can only be described as outdated, bigoted policies. Exclusion of gays and the non-religious from the ranks of Scouts or Scout leaders is a throwback to another era, not so enlightened. The fact that so many churches--and in the more recent 10/15 years a big influx of Mormans--exert control over Scouting means these bigoted policies may not change anytime soon.
As a private organization, BSA has every right to maintain official bigoted policies. The Supreme Court has ruled it so. But BSA and its apologists must be prepared to deal with the consequences without whining.
Many of us who would otherwise support BSA cannot in good conscience do so, and we steer boys to other organizations that do not discriminate. A smaller number of us work toward denying BSA the free use of public facilities, or public financial support, because of their institutional bigotry.
Some Scouting leaders ignore these archaic rules and do not oust gays or non-religious. That's fine for those troops, but it does not actually address the real problem which is the national hierarchy's demonizing and excluding boys and men for just being honest about who they are and/or what they believe.
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If you disagree with the official positions BSA takes, in addition to withholding support
you can steer boys and would-be Scout leaders elsewhere. A good place to start is:
www.scoutingforall.org
It's quite a diverse site and some of us may not agree with every word to be viewed there, or every link to other sites— but here you will find the smoking guns some here in this thread deny exist. You will also find lots of alternatives to BSA.