You can use both TRS and TS cables, the difference is that a balanced cable (TRS plug) carries a more robust signal and so it's less prone to interferences. Especially when you use longer cables, it is better to use balanced cables (assuming you are using equipment with balanced connections, and both your scarlett and kemper have balanced connectors). TRS or XLR are just different plugs, no difference in signal if the cable is balanced so don't worry about that. The problem with the Scarlett is that the XLR connectors are there to connect microphones and there is a preamp inside you can't bypass, unless you plug a TRS cable. So, you connect a TRS cable and it automatically bypass the preamp (don't forget to set the switch to "line") I'm trying to put it in a simple way, obviously you can do some research if you want to learn more about cables, signals ecc...
Also, an XLR plug is not that easy to unplug compared to TRS, and this can be an advantage in some cases, but in your particoular case as explained above, you can only use TRS or TS cables to bypass the preamp. And yes, you can use TS cables, it will work just fine but the cable may pick up some noise. You can try that and if that works, no need to buy TRS cables (usually more expensive).
The difference between mono and stereo is easy: if you connect only one cable you get a mono sound, it means everything will be centered in your stereo image. When you connect two cables you can use stereo effects such as ping pong delays, so that you will hear delays bouncing around your left and right speakers, creating a more spacious, open, stereo sound (same apply for all stereo effects).
So, to sum it all up:
balanced cables are better when you have the possibility to use them but there's no difference in sound
there's no difference between XLR and TRS plugs
TS cables are unbalanced and can be noisy but worth a try (your regular guitar cable is TS)
connect two cables as described in the previous post if you want to play with stereo effects
How can you understand if a cable is TRS or TS? A TRS plug has two little rubber rings on it, a TS plug has only one rubber ring.
I hope I didn't make a mess with my English, if it's not clear I can send a picture tomorrow. Cheers!