Hi Mojca,
I can clarify some of the points

>  there is a field to enter the scale, but pipelines refuse to accept
"scaled models").

You can manually adjust it on the scale of KiCad, or you can edit your file
to make that scale
You can also create a file to inline another wrl file, and then apply the
desired scale, example
Transform { translation 0 0 0 scale 0 0 0 children [ Inline { url
"file.wrl" } ] }


4.) There seems to be a bug with 3D VRML models from cadquery. I'm not
> yet sure if the one to blame is KiCad or cadquery, but I submitted a
> bug report that should hopefully lead to some proper diagnosis and
> finally a fix.
>

I comment already, I found that it is a problem with the triangle winding
orientation of the model.
This should be fixed on the model side.

> and I didn't manage to find any suitable way for conversion (FreeCAD
doesn't know how to convert VRML into STEP).

You can't (or shouldn't) convert it, because VRML is a non-CAD file format.
Have a look at:
https://forum.kicad.info/t/what-is-the-difference-between-step-and-wrl-3d-models/17346

Mario

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