For me it hugely depends on the type of video I will be doing. Some types of videos will absolutely need scripting, some will just sound fake and come off as boring if they are scripted.
I will use my productions channel for an example. On it I do various different types of videos. I do the odd review, a vlog here and there, film analysis videos and even short films.
Now a vlog is something that should never really be scripted as such. Vlogs are meant to feel genuine and scripting it will make it seem the complete opposite. I mean, think of topics and a general jist for your vlog is different from sitting down to script it word for word. So in this example, scripting is a no no (at least for me).
However, for my film analysis videos I would tend to script them. Due to the nature of film analysis and film theory, I would need to script it for structure and to convey my points accurately. When I say script, what I mean is script the subject and structure of the video but not word for word. Unless I am doing a film study of a technique, then I would script it word for word.
Then, as an extreme example, take my short film 'Broken Vows'. That is something that is scripted down to every last detail. How the set is designed, how the actors look, how they move, how the dress, what they say, how they say it and even the shot angles/shot types are all scripted (to give a specific feel to it).
There is no real definitive answer. It all depends on the video and what you are trying to make.