The idea that a freeman has a right to be armed goes back further. The Anglo-Saxons, like many tribes in the Volkerwanderung,believed in a nation in arms, and that the right to carry weapons was a distinction enjoyed by a freeman.
The Anglo-Saxon Fyrd, or militia was based on this idea. Even in the time if Henry VIII, all freeman were required to own abd be proficient with, a longbow.
Good points about the history of the militia.
And in the amendment, ‘well regulated’ meant ‘well trained’ — not— ‘over-legislated’ (thus the ‘shall not be infringed).