I grew up in a small New England town that was burned to the ground by natives during King Phillip's War in 1675. When that happened, the nearest regular militia was about an hour away by horseback (once they'd been alerted, which would have taken another hour for a rider to reach them). Under those circumstances, it made absolute sense for each citizen to have a weapon with which to form a local militia for the common defense.
The United States is a very different place today. While it is true that "when seconds count, the police are only minutes away," I'm not concerned about the Narragansetts coming to burn the town down again. The threats faced by modern Americans are different than the ones faced by colonists when the Bill Of Rights was written, and the Founders understood that a mechanism was needed to modify the Constitution in the future as needed. Is there a compelling reason for private citizens in 2025 to own small arms? I would say yes, absolutely. Is there a need for them to own select fire weapons, grenade launchers and mortars? I think that can be honestly debated.