Someone on gunbroker was selling a 'NY compliant' version that was pinned. Not sure how they did it though. It may still be up there since the BIN price was through the roof.
Technically, a folding stock isn't "telescoping" or "collapsible" - of course, the ATF didn't see it that way during the ban and as such it does need to be fixed. I wouldn't be comfortable with a screw either, I think you need to blind pin it.
My Kriss Super V has a folding stock that came pinned from the factory. You may want to check out the way they handle it. No idea if it will work on the SCAR though.