Scouting was fun, and got me into the outdoors. Looking back now that I climb, they didn't teach us very much about camping/backpacking - it was all more trial and error, very disorganized. I didn't get my kids into scouting as I'd rather go out with them on my own, at our own pace (faster than what you'd get otherwise), and skip a lot of the quasi-militaristic aspect to it.
Don't like that Scouts want you to profess faith in a higher being, or be openly gay? Don't join. You can find plenty of other organizations elsewhere that'll get you into the outdoors.