Not only from a socioeconomic point of view, but I would guess that having parents who are involved enough in a child's life to pay for, drive to, and participate in these types of activities is more likely to be a source of a "mental health boost"
Going with a scout group usually means that you wont be relying on the parent as you want to stay as a member of the group of people your own age.
You'll start to feel tired and sore at some stage, and it may start to rain. But if you've prepared properly (and the scout motto is "be prepared"), then you should be ok.
It's just a matter of getting away from it all, and perhaps embracing the suck as mentioned above.