But that's very clearly not what that means.
At the time, the "militia" were the people during war time. That's obviously why the terms were used interchangeably.
"Well regulated" at the time meant to be capable and functioning at a high level.
The "well regulated" "militia" referenced were infantry that could be quickly formed of normal citizens (ie. not required to be enlisted) without the need of regular soldiers.
This very clearly means that the average law abiding citizen should have the right to own and operate arms equivalent to the standard regular infantry soldier of the time.
Since you brought it up, an excerpt from the
federalist papers , showing they specifically did not want the militia to be required to report to instructed training regularly, but be well equipped so they could train on their own.
According to that, they very clearly wanted the people to be armed with equivalent equipment of standard infantry and have the right to transport and practice with them so they could be as capable as possible on their own. And for the government to offer training to all once or twice per year to help maximize the effectiveness of that training.
It also explicitly shows that "well regulated" wasn't intended to mean under government control, but rather, highly capable.
This means they actually put a lot of thought and effort into the 2nd amendment, to make it incredibly concise.
The Constitution doesn't restrict the power of the people. It restricts the power of the government.