Def a personal preference. And for me that preference depends on the bike and what I’m using it for.
Big cruiser like my vintage, I like the floorboards. Gives more options to move feet/legs around on long rides. But some other big cruisers have the wrong positioning between seat and controls for floorboards to work for me. Smaller cruiser like my Shadow, I prefer the pegs. Not usually gonna take long enough rides to want the floorboards for it, especially now that I have the Indian. Plus the corners of my pegs on it are ground down from corners, floorboards would be too much scraping. Also have an fz1 and doubt there even is a floorboard option for it being more of a sport bike, that would just be a silly setup for sure.
My preference for a scout would likely be towards pegs based on what I would use it for and the seating/control positions on it.