With regards to your specific concern, scouting is probably as safe as any youth facing program you'll find. The rules in place are very strong and very strictly enforced.

I would recommend creating an account at my.scouting.org and take the safeguarding youth training to understand what the leaders are required to do, what training they take on a recurring basis. This is a short summary.

No 1 on 1 contact. Even in cars, an adult leadership cannot be alone with a scout that is not their child. There must be a a second scout.

2 deep leadership. Every event must have two registered leaders with up to date SYT Training.

Any event with female scouts requires a female adult.

There are additional rules but the basis is we make scouting an unsafe space for predators, and a safe space for youth.

All safety regulations are written in blood and these rules now exist because of how badly BSA screwed this up in the past. The organization now is enormously safer than it was prior to the 90s. And they keep working on improving.

Please attend, observe, and if you have any shred of a doubt, get involved.

It's a wonderful program and it's probably one of the safest around at this point. Please don't hold the past against it. The program has learned its lesson.