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That's impossible.
The Founders ONLY wanted militias.
They did not trust standing mercenary forces that worked for pay.
They only wanted volunteer groups of citizens.
Which is a militia.
And if you made private militias illegal, that would the National Guard illegal as well as the rest of the armed forces.
Government is NOT the source of any legal authority, we are.
They had a limited number of citizens and in most cases they were required to join the local militias. The militias were under the command of the governments. The states most certainly have the constitutional right to outlaw private militias operating in the public sphere. I'm not too sure they a have a right to stop the people from training themselves for catastrophes where civil order is disrupted however.
We vest the legal authority in our constitutional government.