There are several scouting alternatives in the US, though you may have to start a troop in your area yourself as most of these programs aren't yet as far reaching as Boy/Girl Scouts.
Quest Clubs (https://questclubs.com)
Over 1,000 badges & awards to earn. Open to boys and girls. Freedom to run troop as you like. Can sign up as an individual or family & not join or start a troop if there's not one already near you or you don't want to. Preschool to high school. Even adults can earn badges too.
Frontier Girls (https://frontiergirlsclubs.com)
Basically the same as Quest Clubs with a few minor changes. Girls only. Created by the same person who created Quest with all the same badges included but with a couple different special awards. A little less freedom in how you run your troop. I believe you can still sign up as an individual or family if you don't have a troop near you & don't wish to start one. Preschool to high school. Even adults can earn badges too.
Navigators USA (https://navigatorsusa.org)
"Navigators USA is an all gender, secular scouting movement that welcomes all people — children and adults, no matter what gender, race, lifestyle, ability, religious or lack of religious belief." - from the website
There are badges to earn & multiple age levels.
Spiral Scouts (https://www.spiralscouts.org)
"SpiralScouts is based on the idea of children and parents of both genders working together. Our program encourages girls and boys to learn, play, and work together under the direction of leaders of both genders as a way of showing by example that both men and women are capable and cooperative leaders." - from the website
Spiral Scouts was created by wiccans but is welcoming to all religions & the non-religious. You can create a Hearth with just your family or just one scout or you can join/create a Circle that is run like a troop. Includes multiple age levels.
American Heritage Girls (https://americanheritagegirls.org)
"American Heritage Girls is a Christ-centered leadership and character development program for girls 5 to 18 years of age." - from the website
For girls ages 5-18. Earns badges. Is more wide spread than the groups above. I don't know much about it beyond that.
Badges are mostly earned on an individual basis. Clubs may be created as well, but there's no official club structure as with the groups above. It's open to all kids & teens.
Wild Explorers Club (www.wildexplorersclub.com)
"The Wild Explorers Club is a monthly, online adventure program designed to ignite a heart for exploration and wonder in our kids. The assignments are designed for kids ages 6-12, but younger children can certainly participate with the help of their parents." - from the website