I have often approached the "guidelines" like I do YPT. The "guidelines" aren't there just for the protection of the scouts. They protect the adults just as much if not more. When BSA put's out a "guideline" they are saying, pay attention to this issue because it can be a problem if one is not careful. Sometimes common sense isn't as common as we would think. There are a number of scouters out there that simply do it "their way". Which leads us to the probably of anything going wrong. Most of the time, it's okay, but when things go South, the BSA warned them and it falls on the scouter who didn't listen. We live in a risky world, especially when we take scouts out into a environment they are not used to. This increases the risk and when one is planning activities the "guidelines" let everyone know BSA is aware of the risk and leaves common sense suggestions on how to deal with it.
If one wishes to "bend" the "guidelines" to accommodate their unique situation, if all appropriate contingencies are in place, it's not recommended, but maybe the risks have been minimized for just that situation. Still, it's in the hands of mature scouters with a modicum of common sense to be prepared to handle those risk should they arise. BSA isn't going to be backing them up, you're on your own. We all have to live with the consequences of our decisions.