You might want to read
The Commonplace Second Amendment by Prof. Eugene Volokh, UCLA Law School.
The Founding Fathers were revolutionaries who used the militia effectively in winning independence. As a student of military history, I would assert that their era is more or less unique. The musket was such an inaccurate yet deadly weapon that militia and regulars could square off against one another on the same battle field. Generally, irregulars are only effective using guerilla tactics. In that particular time and place, this was less so. During the US War of Independence, militia and irregular forces played a signifiant role.
The Founding Fathers attempted to write the best wisdom of their time into the Constitution. They had no standing armies to speak of. They had no police forces. If there was a need to enforce the law, you rang a church bell, a triangle or shot off a musket, and citizens came running with their personal weapons. There were still threats from the natives. In the war of 1812 as well as the revolution, there was a threat of raiders from the sea that could be met by militia and which could not be met by any other force. The militia was all they had, and many thought this was enough, while others thought more would be dangerous.
A straight reading of the Constituion reflects the military structure of the times. Congress could call up the militia to enforce the law, suppress rebellion and defend from invasion. With said congressional summons, the President would become commander and chief of the militia. The states appointed militia officers, which gave first loyalty of the militias to the states rather than the federals. The phrase "right of the people" is a term of art used to indicate an individual right of the people.
And yet, the above military and police structure is long since obsolete. Teddy Roosevelt rewrote the laws governing reserve military forces, clearly separating the militia (all males from 18 to 45 years) from the select militia (paid and trained forces such as the National Guard). He zero funded the militia. The militia as an effective fighting force is a total anachronism.
Yet the laws are still in place.
I do think old laws and constitutional principles could be effectively revived. Congress has the power to regulate and specify training programs for the militia. This power might quite reasonably be used to require all who keep arms to be trained in their use, and all arms stored safely. At least, this is currently true if the owner of the arm is a male aged 18 to 45. Even the age and gender requirements could be altered with a straight act of Congress... no amendment necessary.
I am not at all sure that we want to do that. I personally have a strong interest that the Constitution should not be ignored or blatantly misrepresented. The claim that the 2nd Amendment does not establish an individual right is simply wrong. The notion that the government cannot regulate and train The People in the use of firearms is just plain wrong as well.
In stating this view, I suspect I would make people on both sides of the debate unhappy, but folks really ought to spend a bit of time reading the history and reading the Constitution.