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Bob Sihler has a nice defense of Badlands scrambling on the Area/Range page, so I just thought I'd attach this as informational. You can see two of us scrambling up a feature in this picture. (Click to enlarge picture and find the people.)
We're close to topping out, the crusty sandy stuff that makes up these features falls apart at steepness levels well before the ridgeline visible here.
Many of the ridges can be walked or scrambled if you follow the ridgeline the whole way instead of going up the face as here.