I was wondering when someone would bring that up. Differing perceptions of legalese and punctuation can be argued all day, but the numerous essays, letters, and publications of the day by the FF's repeatedly addressed the right to personal defense. I used to have a bookmark that quoted dozens of such remarks, but is no longer available. Anyone can do the research and see there was a duel "intent" for the 2nd Amendment - one to form trained (well regulated) militias and the other for personal self-defense for life, liberty, and property.
There is no mystery here other than the courts refuse to "incorporate" INTENT. If only the document was written with the word "and" or a semi-colon in place of the comma, there would be little to question.
Just leave out any reference to the militia. None is necessary.