I heard that Chabad instituted a requirement for shluchim to be married because Zalman Schachter-Shalomi went off the derech. Is this historically accurate, and are Chabad shluchim required to be married nowadays?
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There's several types of Shlichus
Zalman Shachter-Shalomi went with Shlomo Carlebach on Shlichus to a university campus. Especially back then, but even now, there were elements in university campuses that aren't so good. There's the problem of mingling with the opposite sex, among others issues. Therefore, many Lubavitchers avoid and discourage sending unmarried people to university campuses, though I'm not so sure that it's directly caused from Shachter, and I've never heard of a ban. But plenty of unmarried people go on Shlichus.
I'm not going to comment on your example b/c I don't know enough about him. However, yes, shluchim must be married, or when they are single they never go out somewhere by themselves. Shlichus must not be done alone. Not only this, but a big aspect of the success that shulchim have is be inviting people to their house to give their guests a glimpse of the beauty of a chassidishe family who are happy to keep Mitzvas and be close with the Rebbe and how chassidus permeates everything they do with a refinement not often seen in the secular world. Also another important point to be made is when bocherim go on shluchis they don't go as individuals but they at least as a pair.