I have 2 daughters who are now at the senior level. Both my daughters started in 1st grade as Brownies (now 1st grade is still Daisies). My first experience was a nightmare. Trying to change troops was difficult, I got very little help from our local council, however, I worked at it and got my daughter into a good troop. Each leader is different, each troop is different. You need to find what meets your needs. It doesn't matter if it's "kosher", do what you feel is right.
As far as money, money, money. Yes, it can be expensive, especially at the beginning of each level when you need to buy the vests and patches. However, part of the GS law is use resources wisely. A good leader will do this. It doesn't need to be expensive. It also depends on the types of activities the troop does and the trips they take. For example...As Brownies they saw a "broadway" show, I think our share of the costs was $30 per person. As Juniors, they saw a play at the local high school, tickets were only $5 and the troop picked up the entire cost.
Cookie sales rarely get any better. I absolutely hate them and for the most part our family sells very little. I'll stand outside the grocery store for hours, but I'd love to tell them where to put that order form. Also, you're not required to sell cookies. However, if you don't you will be looked down upon and may be requested to cough up some additonal funds for a special event.
The bottom line. This will be my 10th year as a GS mom. I've had my ups and downs with various leaders. However, my girls still enjoy the experience. They done so many things over the years, that they would have never been exposed to if it weren't for GS. My advise, find another troop and see how it works out.