I'll weigh in a bit. A good share of BSA's struggle are the local council and district leaders.
One issue about teaching Scouts low impact/lightweight camping is the structure of the outings themselves. Camporees, for example, are more about creating base camps similar to backyard picnics--tables, heavy stoves, units dependent on trucks,large SUV's, and leaders sleeping in trailers, campers, and even RV's and cabins on the outing sites. At one camporee I attended the Camp Director was so obese he traveled from troop campsite to campsite in a bloody golf cart!
At the district level, I proposed an expedition-type theme camporee. We have a local mountain with several campsites suitable for large groups. Boys and their units would "climb the mountain" (a 3-4 hour walk) with only their backpacking type gear. A "safety vehicle" would be onhand for any med issues. Much of Tenderfoot, 2nd, and 1st Class requirements could be completed as well as much of the Backpacking and Hiking merit badge tests. The State park rangers were key to it as well and agreed they could come up with a mix of service project ideas for a two hour period.
It was rejected because it was too "high adventure" and some of the adults could not keep up with the boys or even walk that far. I made no sense and I retreated from leadership roles beyond my own unit. The issue wasn't the BSA lawyers, it was the some of the Scouter's themselves.