Here you go:

https://bpip.org/boards_202009112042.zip (~100MB compressed, ~600MB uncompresed)

You may be able to get board details from here:

https://bitcointalk.org/index.php?action=search

It's a bit messy but it has all boards listed on one page. Otherwise you'd have to recursively scrape multiple pages starting from the front page.

Another option - if you are currently scraping recent posts including the full path (with board names and IDs) then you can extract the hierarchy from that data. It might not be complete though. Some boards that are rarely posted in might need to be added manually.