So much information in this thread, and so much of it is just wrong.
Yes, it is possible to use a Motorola portable radio to safely scan ANY Motorola trunked system (of compatible type) without fear of affiliation if you know precisely what you are doing, even a full P25 Phase II TDMA system. The method is verified "safe" if procedures are followed EXACTLY.
But it's definitely not for beginners.
However, a system which uses Radio Authentication can't be scanned by a Motorola radio, in trunking mode, without being Authenticated. Which means logged in, approved, and given the authentication key by the system manager.
And if you do it, be aware that you are on shaky legal ground.