Madison wrote the "right to a well regulated militia" part. In the federalist papers#46 , he points out that a militia is for the people to to protect the nation and prevent government federal army needing to be too big as to have too much power. Also noting that a "well regulated militia" is not a militia with gov regulations but a comprehensive militia of the people independent from gov rules. As a governed militia would defy the principle.
So yes....we are supposed to outgun the gov
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