P25 solved a (small by today's standards) part of the problem by making things packet based instead of pure analog, which locks out everyone with an older scanner or an el cheapo radio (such as a Baofeng) from listening in, now you need to drop a couple hundred bucks for a scanner that'll reconstruct them into audio. That should drive a fair amount of the public away.
However, it doesn't because we have scanner apps and live feeds. I have nothing against them, but I do have something against the idiots that use them and then show up at some random place because the cops are there.
As for the federal offense part, if someone is truly determined, they'll completely ignore that and just not tell anybody. Making it difficult to do so does help, and doing occasional key changes requires the guy that decrypted it to redo the process all over again.
Sometimes the bad outweighs the good and agencies go fully encrypted because it's becoming a nuisance to them.
About the legality of scanner audio, there's not anything I've heard of in the US that prohibits you from distributing that audio. Broadcastify would be a shell of what it is now if that was true. For your videos I do recommend turning it down or off for the duration of your recording just to cut down on potentially distracting things, but it's not illegal to have it in the background or anything.
IANAL but this last part is my understanding of the whole situation.