Kennedy actual came very close to articulating a thought that I have had concerning the fact that the actions of a "well-regulated Militia" are really just the plural of individual self-defense.
If an individual finds himself in an isolated place and is beset by attackers, then that individual exercises his right to self-defense. If it is two people being attacked, then they exercise their individual rights to self-defense.
But at some point, the various individuals recognize that they must coordinate their activities to accomplish the end of protecting all of them. At that point, they are exercising their right to act as a "well-regulated Militia".
It's a continuum without sharp boundaries but it is the consequence of the inalienable right to self-defense.
I think that's exactly the case. It would be great if some language to that effect ends up in the majority opinion.