First of all, if you REALLY want that chest, it can be done depending on the camp composition on all civs.
First, you'll need the Ra's Gem horse armor on your scouts - It's the armor that has a tremendous amount of inf armor.
Other pieces of gear don't matter as much as the Ra's.
Then you'll need to check the composition of the camp - If the camp has even 1 ranged unit, you won't be able to do it. If the camp is 2 hippokons, you won't be able to do it. If the camp is a full band of raiders, you won't be able to do it. The limit is roughly 4 hoplites - Anything larger then that is impossible.
Now, take both of your scouts up to the camp and set their stance to Defense. The objective is to get the camp attacking one scout while the other scout runs away to be healed by your healing unit - One scout tanks, the other scout get's healed. Switch and repeat as needed.
There are a few extra tidbits depending on civ.
Romans can AFK even larger camps due to the extreme healing of the Clinicus.
Egyptians can AFK smaller camps due to the healing of the priestess, though larger camps will need some amount of watching to make sure your scouts don't die. Priestess also has in-built AoE so you can see about dividing the camp between targets to win.
Norse can build a barracks and make Spearman to help take the camp down, though you'll want to tank with your scouts.
Everyone else is all about making sure the scout's swap off.
Due to the scouts low damage output, you are looking at roughly 10-20 minutes depending on the camp comp to down it.