Those who know me will laugh to see me continuing to beat this dead horse, but this is a really great example of why ORM+scaffolding is an anti-pattern, by which I mean it seems like a good idea at first, but the costs outweigh the benefits. It's absolutely true that you can use ORM and scaffolding patterns in a totally secure way. But the problem is that the defaults are insecure -- every table can be accessed, ever…
This is really an argument for building authentication and authorization into every app, rather than against scaffolding/ORMs.
As rails doesn't have auth (of both kinds) built in, it doesn't really matter if they offer scaffolding or not - any editing url you make is going to be completely without protection unless you add it. The only thing you'd be adding by not having guessable urls without authentication/authorization is security through obscurity.
So IMHO the lack of auth is really the issue here (and the thing that breaks the rule in your final sentence), rather than the guessable urls.