I was in scouting from 57 - 64, Boyscouts and explorers. Not once did I see, hear or experience anything untoward. It helped set me up for life and gave me so many good experiences.
The moment you started making compromises was the moment you lost the organization. You cannot take an entity bases on honor and compromise it.
Personally, as much as I love scouting I would rather see it fold than to continue on in its current state.
I was in during the same timeframe. A wonderful and educational experience, that prepared me for adulthood.
When my son joined the Cubs, I became active again until he reached 18 and left as an Eagle Scout. Since then, the organization has been surrendered to the perverts and socialists.
RIP BSA!