I encourage everyone to get vaccinated if they can, but the virus will never go away. You can't seriously expect asymptomatic people to continue wearing masks indefinitely.
It does seem likely that the virus will become endemic, though hopefully reduced to something like a common cold virus. It is possible to get something in between, though, where the virus only exists in certain regions and thereby contain it, though this seems to be getting less likely.
We might get some traction with a booster tailored to delta, but only time will tell.
https://www.businessinsider.com/delta-variant-made-herd-immu...
https://www.thetimes.co.uk/article/covid-19-will-just-end-up...