Girls in the USA can join BSA Venturing, which is typically more “high adventure” related stuff.
But keep in mind, that the Scouting movement in many countries is dictated by the societal norms of that country.
BSA National (USA) has no say so over what Canadian, Nepalese, or European Scouts do. It’s up to each individual organization to decide.
I was told a story from a US Scouter who took his US troop (military dependent kids of service members stationed in Germany) to a European “Jamboree” and the Germans had male and female Scouts bunking together. He had to have an enclosure made for them because the German gals thought nothing of going topless. His boys were a bit upset at the enclosure.
SZ
Sounds like the Venturers I know here. They never had a good reputation.