Not a scam. You do get what you pay for.
When I purchased my boat, the broker tried to get me to go through one of these agencies. The cost was $600 for the service. I refused. The previous owner filled out and signed the reverse of the current documentation and I submitted it to the NVDC with the appropriate fee.
These agencies are typically not scammers. They simply provide a service to manage vessel documents for those who could not be bothered. Additionally, if you finance a boat, the lender usually initiates the documentation with these services and passes the cost on to the borrower. They do this to protect themselves as the agency conducts a title search to ensure proper ownership and to make certain there are no mechanic's liens, etc.
I wouldn't use them, but there are those who do.
Cheers
Bob
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Lazybones - 1999 Catalina 36 MkII, #1731
E. Greenwich, RI