Um, no.
"all 50 states have some provision in their state law, whether it's their state constitution or their state statutes, that prohibits private militia, private paramilitary activity. " [0]
"In 2008, the Supreme Court ruled in a major gun rights case, District of Columbia vs. Heller, that citizens had a right to own a firearm for purposes other than being in a militia, namely for self-defense. The ruling affirmed the right of states to restrict militia-like activity." [1]
So, it is pretty much decided that independent militias, unaccountable to the state(s), can be illegal under the constitution, and are in fact illegal in all 50 states.
So, either the founders were either not actually interested in unregulated militias (hint: they did say "well regulated", not "unregulated, independent"), or SCOTUS has gotten it wrong — very possible, but it is very unlikely that a different SCOTUS would help, as this is the most right-wing SCOTUS in a century and it still upheld outlawing independent militias.
And again, there is nothing that says that independent militias would not, or could not have qualification standards. In fact, they'd be idiots not to.
Again, I do not see any right to buy arms & ammo as easily as a bunch of bananas, or that the right is enshrined for insane, incompetent, or irresponsible people. Being required to pass a background check, not have demonstrated inability to control your own violence, and demonstrate basic safety and skill with firearms is not infringement.
I live in Massachusetts, with some of the most restrictive gun laws in the country. It is a minor inconvenience, certainly nothing resembling infringement. We need to attend a 2-3 hour safety session and iirc get the cert signed off by the Chief Of Police in the town[2].
The results are clear [3]. While the nation has hundreds of mass shootings every year, there have been only 2 in MA in this century (the only one in the last two decades being in the Boston Marathon Bombing, an international terrorist act), and only 4 in the last 33 years.
Yet, if I want to, I can go get qualified and get a firearm next week.
Seriously, where is the infringement?
[0] https://www.npr.org/2020/08/30/907720068/are-citizen-militia...
[1] https://www.usnews.com/news/national-news/articles/2020-09-2...
[2] https://en.wikipedia.org/wiki/Gun_laws_in_Massachusetts
[3] https://en.wikipedia.org/wiki/Category:Mass_shootings_in_Mas...