Although the Torah will endure, how it is interpreted will change. Judaism today is not Torah Judaism but Rabbinic Judaism. For example, we no longer practice sacrifices and slavery. Maimonides knew this.
Menachem Kellner writes that Rambam did not accept all of his thirteen principles. When he wrote them, he wrote them for the masses. Maimonides wrote many essential truths. The eighth and ninth principles are an example.
For example, when Rambam wrote that Moses's prophecy was above all others, this was written in order to combat the messiahship of Mohammed and Jesus.
The Babylonian Talmud, Nidah 61b, shares the opinion of Rabbi Joseph: “The mitzvot [commandments] will be abolished in the time to come.” Fourteenth-century Rabbi Joseph Albo writes that a future prophet could abolish or nullify all of the biblical commands except for the Decalogue (the Ten Commandments). See (Sefer Ha-ikkarim). Also, the fact that Rambam seems to suggests that we will not perform sacrifices in the future, indicates that how we interpret the Torah will change. Indeed, Rambam writes that if a Torah verses run counter to science, then we are to read it allegorically.
Thus, Maimonides' "thirteen principles of Judaism" were mostly for the general population. He only accepted the first five, which deal with G-d. Jews should accept those first five principles literally.
(When I get more sources, I will add them).