But I do seem to meet a large number of young adults that could benefit from a similar experience to Scouting, in terms of learning valuable life skills, building self-confidence, and as a way of broadening their experience outside of urban life.
Lord Baden-Powell as he was or a hypothetical version of him with modern morality applied?
"No man is much good unless he believes in God and obeys His laws. So every Scout should have a religion....Religion seems a very simple thing: First: Love and Serve God. Second: Love and serve your neighbour." - from Scouting for Boys. And, generally, he seemed to consider that pretty important.
I'm not making any argument about what the Boy Scouts should or shouldn't do, but rather responding to the statement that Lord Baden-Powell would be disappointed by it or parts of it rejecting atheists, which is clearly false.