Gen 49:10:

The sceptre shall not depart from Judah, nor a lawgiver from between his feet, until Shiloh come; and unto him shall the gathering of the people be.

For 2000 years Jesus is the Judah who the gentiles have been gathering to. Once the age of grace is over and the gentiles are in heaven then judah/Jesus will give the scepter to the earthly anointed David who will be from Judah. David will gather the Jues and earthly gentiles for the duration of the millennium.

The word Shiloh means “to him whose right it is” so the scepter departing from Judah is given to shiloh(him whose right it is). So actually the scepter never departs from Judah it is simply handed off from the heavenly Jesus/Judah to the earthly David/Judah. Once the millennium is finished then that scripture will be fulfilled again but the final fulfillment David will be Judah passing the scepter to Jesus/shiloh(him whose right it is) and the earthly Jues and gentiles will finally all be gathered to Shiloh/Jesus and then a new heaven and earth will be created where all from heaven and all from earth will be joined and all will be melchelzedek order kings and priests