This question is one of the many frequent questions that we get. And to be totally honest, no.
It’s not that you are damaged or undesireable, our decision is to protect you from the long reach of the law. Yes, years have passed but if you are found with a weapon it could mean jail time.
People develop friendships over time, and seeing a friend go to jail because you wanted them in the militia, is going to be a tough thing to go through.
I would refer you to this article: https://www.pennlive.com/news/2020/07/pa-builds-on-second-chance-reforms-for-ex-offenders-by-easing-employment-barriers.html
This second chance law, coupled with perhaps a pardon request could restore your gun rights, I just don’t know, but it’s worth a shot.
That being said, you can still prepare as we do if you go to https://palightfootmilitia.com/how-to-become-a-militia-of-one/ and see what it takes to get ready. Should everything fall apart, then you will a few steps ahead of your neighbors.