It's worth noting here that past cases before the Court referenced the idea that blacks could be allowed to carry fire arms if citizenship (pre-civil war) was interpreted more broadly, and that that fact was a reason to restrict it. So, yes, the Court has certainly erred in the past ... multiple times. 2A has been recognized as an individual and enumerated right for a long time. It's somewhat an invention of modern media that it isn't an individual right, and lots of people have been summarily gaslit into thinking it has something to do with membership in a (state run) militia.