I can only speak from my own experiences but recently i had a couple of R.garridoi that i had initially kept under incorrect conditions. The chap i received them off told me he kept them as bark scorpions with accompanying warmth and humidity to boot although within a couple of weeks i found out they preferred an arid environment.
They were 5th instar when i got them and all have since moulted..
Notice the first and second leg on the left hand side is showing strong signs of mycosis while the bottom of the first leg on the right hand side is completely gone.
I haven't taken a ventral picture of this scorpion since it moulted but look closely...you can see that all the previous damage has gone now that it's moulted to sub adult female. Even the missing leg joint has regenerated albeit maybe a little thinner and less defined than it's counterpart although i'm confident that will be corrected with it's final moult to adulthood
So...with enough moults to adulthood i'm tempted to believe that most skeletal problems can be corrected through moulting.