they do. if you can't march, follow orders or shoot marksman, they will help you out. but a recruit/trainee can just say, "hey, this shit ain't working for me." they will counsel and cajole, but all one has to do is just keep asking for a discharge.
When I said "just quit" I didn't mean have to persistently refuse for weeks while getting chewed out and threatened on a constant basis. I mean I went to basic like 20 years ago so maybe it is a lot easier now.
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