I've dug into this a lot- I find the scouting bashing to have some merits in some areas- WOSM in general has opened up scouting to people of all faiths, no faith, both genders, and almost only- definitely notably- n the US is it heterosexual Chritian Boys Only. Two churches in the US are the prime movers behind the churchification of scouting, with a bunch of hangers on.
Now, plenty of scouts and scout groups completely ignore this, with packs being sponsored by churches that have openly gay ministers and so on. There are plenty of atheists and pagans in scouting, just not hard core fanatic ones who want to force everyone to be like them!
The other issue - where the WSS crowd gets most of its ammo- is actual outdoor skills and use of tools. Scouting has whittlin chits for cub scouts and knife/axe/saw chits for boy scouts. It's very reasonable, the chits are given as partof safety measures- you have to know and promise to abide by the rules to carry a toold with an edge.
Where it gets problematical is in two areas:
Scoutmasters/den leaders/etc who DO NOT UNDERSTAND KNIVES. This is a big one, and likely to source of the majority of the bad feelings towards scouting from a technical perspective. The answer to this is to get the grown ups out into the field with a knife. Very simple, very easy- volunteer to teach these folks how to use an SAK. Don't get all huffy and snooty about emersons or striders, fixed blades or Buck 110s. Baby steps. Get these people behind some compacts, tinkers, climbers, and woodsmen. use every tool, just spend a few hours messin around. In almost every case, I think you will find it is people who don't understand knives who are the problem.
The second issue is the fixed blade issue- There's no answer for that. Changing fixed blade carry is something that would have to be done with a concerted, educated, and reasonable effort. Calling people stupids and walking away won't fix that. And there is some reason behind the general ban on fixed blades by the scouts. You hardly want to be running around with sugar crazy hyperactive 11 year old who has no idea what he's doing and a 12 inch blade 'super-survival' knife- and that would happen. a 4 inch blade length limit would work. Of course, then you'd have people screaming about how a kukri is a perfectly fine tool, etc etc etc.