It’s not a poorly-written amendment unless you ignore the context of the Articles of Confederation, which is where the phrase ‘well-regulated militia’ came from and in which it was explicitly defined:
every State shall always keep up a well-regulated and disciplined militia, sufficiently armed and accoutered, and shall provide and constantly have ready for use, in public stores, a due number of filed pieces and tents, and a proper quantity of arms, ammunition and camp equipage. from section VI
That was unambiguously what ‘well-regulated militia’ meant when the Constitution was drafted, and was its intended meaning. That context has been lost and/or deliberately obscured in recent years – specifically since the 2008 Heller decision that reinterpreted the 2A to ignore that context and how grammar works in order to include the rights of individuals.
Most people today are fine with that reinterpretation (or are simply unaware it happened), but my point is a core amendment was reinterpreted recently in much the same way you’ve been arguing against.
Why was it fine for the 2A but bodily autonomy is a bridge too far?