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The vast majority of "militia" INCLUDING in the Founders time, were not members of an organized force but were simply citizens available to be called up as needed. The 2nd establishes two rights, one is to the State stating each State may have a militia and that the Federal Government may not outlaw them, the second right is to EACH individual citizen living in the Country and is a right to own, possess and bear arms for the purpose of the militia that may or may not be formed.
The refusal of the State to form a militia or to limit it to that which the Federal Government controls does not diminish the rights of the Individual. As evidenced by US Law that establishes that all males aged 17 to 45 are members of the Unformed militia of the Country.
Okay, this is a valid point. At the time it was passed, there were probably good reasons for a militia and an armed citizenry.
A guy in 1790 needing a gun when there were no police or organized armies and he probably lived on a farm with wild animals attacking his livestock and the threat of native American raids... Probably good reasons for that.
But here's the thing. As the article in the OP points out, by the Civil War, they found that Militias were impractical, and by WWII, they created a National Guard to replace them.
So at what point do we realize that most citizens today don't need guns, in an urban society.
"Because the Founding Fathers Said So" is a pretty lame excuse not to examine what the laws are and try to pass pragmatic ones.