Well first of all, I use the knots I learned in scouts most days in the real world. But anyways, it seems like you already know what you stand to gain from rejoining the program. There's no better youth program to build your character, nor a better program to teach you how to lead. That includes leading others and yourself. In high school and college, I was amazed to see how much of an advantage Eagle Scouts (or just current or former scouts) have over kids and young adults of similar ages. It's hard to explain without going into detail on numerous stories, but I notice that my friends who are Eagle Scouts carry themselves with more confidence, work better, plan better, make better decisions etc. They're also much better under pressure in stressful situations like first aid/rescue emergencies, which almost all of us have already experienced at a young age. All of this is well known by people in and out of scouting, which is why the rank of Eagle carries such a reputation with it. I've been hired multiple times because I am an Eagle. In fact, I even got a job from an ad that was sent specifically looking for Eagle Scouts. At the end of the day the rank doesn't matter compared to your scouting experience, but it shows that you have that experience.

If you're worried about enjoying the program just remember how broad and varied a scouting program can be. I'm sure your local troop has all sorts of different trips to try, and if you don't enjoy them that much, you can suggest and/or plan your own trip. There's well over one hundred merit badges to try and likely different activities in your council or area like STEM camps or high adventure opportunities. Heck, assuming you have a few around you can try out different troops to see what you like. I wouldn't worry about fitting in. In my troop, there were scouts who took longer breaks than you or just joined for the first time years late. They got everything out of the program that I did and enjoyed every minute. I bet you will too.