I feel for you and have seen this type of thing before, as have all of us most likely. Some thoughts on how to improve the situation...
First, since you are loosely affiliated with the troop, think about getting formally affiliated with it and bring your knowledge, experience, and PREFERENCES to it. See what the troop leadership would like to do, maybe they want what you do but don't see how to make it happen, or maybe they don't have your experience and would appreciate a "backcountry expert" to help them move forward.
As for the kids not doing anything but run around and play, the SM and troop leadership at every level should emphasize the policy that it is about the kids and by the kids, so the kids do the planning (with guidance where needed), and do the camp setup/teardown, cooking, etc. Get that point across to the parents right up front, especially when the kid joins the troop.
A couple of approaches to solving the car camping issue are to:
~ Have a dual activity weekend outing where they you set up a car camping campsite and also do a backpacking hike of some sort. The car camp will be a good place for the less experienced or younger scouts to do their activities while the more experienced scouts could shoulder their backpacks and hike .5 to 5 miles into the boonies and set up a camp at some nice destination, like a lake or someplace with a great view, then come back to the base camp in the morning. Heck, it doesn't even have to be an overnight, they could hike somewhere, have a meal, then come back in time for dinner or a campfire.
~ We all need to take into consideration what the scouts know or don't know and their skill levels. They could do some car camping events and also mix in some backpacking/hiking events so that they can ease into backpacking and more rigorous outdoor activities. One way to get away from car camping trips with the heavy, bulky gear is to frame every trip as a backpacking trip of some sort, even if it is just a quarter mile walk from the parking lot to the campsite. Even when I go car camping with friends I still pack everything I will use in a backpack and make just one trip from car to campsite.
~ Teach the troop, its leaders, and parents how Scouting does things by starting them off with basic outdoor skills and activities, then adding in hiking skills and activities, and then progress onto backpacking and high adventure stuff. Keep in mind, to be a fun and effective program does not mean that they have to hike five miles away with a 25 pound pack on their back every time they go somewhere as a troop.
Once you are involved you might find that you have a kindred spirit in one of the other parents who could help provide the "backwoods" adult leadership/supervision that seems to be missing in the current situation.
And last, since you see most of the parents as yuppies who don't know much about the outdoors and outdoor activities, maybe the troop should have a camping trip just for the adults to teach them how it's done. Maybe event frame it like one of those corporate team building weekends.