Tough question. The Bible says many things and some of them appear to contradict one another. I'll examine a few quotes from the New King James Version.
Matthew 24:13 says: "But he who endures to the end shall be saved."
First Thessalonians 4:15-17 says: "For this we say to you by the word of the Lord, that we who are alive and remain until the coming of the Lord will by no means precede those who are asleep. For the Lord Himsel will descend from heaven with a shout, with the voice of an archangel, and with the trumpet of God. And the dead in Christ will rise first. Then we who are alive and remain shall be caught up together with them in the clouds to meet the Lord in the air. And thus we shall always be with the Lord."
Revelation 20:4-5 says: "And I saw thrones, and they sat on them, and judgment was committed to them. Then I saw the souls of those who had been beheaded for their witness to Jesus and for the word of God, who had not worshiped the beast or his image, and had not received his mark on their foreheads or on their hands. And they lived and reigned with Christ for a thousand years. But the rest of the dead did not live again until the thousand years were finished. This is the first resurrection."
Since the dead in Christ are not limited to those beheaded for their witness to Jesus, they are not resurrected until the thousand years have finished. Since those who are alive and remain do not rise to meet the Lord "in the air" until the dead in Christ have done so, this seems to imply that some Christians will remain alive on Earth at least until the events of Revelation 20:7. But since the words "clouds" and "air" are used, rather than "heaven", it isn't clear that those who are alive and remain ascend to heaven. In fact, since they rise to meet the Lord "in the air" only after the Lord has descended from heaven with a shout, it seems as though the meeting does not take place in heaven.
Immediately following the thousand years, the final battle occurs:
Revelation 20:9 says: "They went up on the breadth of the earth and surrounded the camp of the saints and the beloved city. And fire came down from God out of heaven and devoured them."
So somebody is living on Earth in "the beloved city". It isn't clear what city that is, since the New Jerusalem doesn't descend from heaven until Revelation 21, after the "first heaven and the first earth had passed away" (Revelation 21:1-2).
Revelation 21:3 says: "And I heard a loud voice from heaven saying, “Behold, the tabernacle of God is with men, and He will dwell with them, and they shall be His people. God Himself will be with them and be their God." "
So after the Last Judgment at the end of Revelation 20, Revelation 21 has God living on Earth with his people in the New Jerusalem. Christ is there also:
Revelation 21:22 says: "But I saw no temple in it, for the Lord God Almighty and his Lamb are its temple."
Then, we have the puzzling verses near the end of the final chapter of Revelation:
Revelation 22:14-15 says: " Blessed are those who do His commandments, that they may have the right to the tree of life, and may enter through the gates into the city. But outside are dogs and sorcerers and sexually immoral and murderers and idolaters, and whoever loves and practices a lie."
But apparently by this time the Last Judgment has already occurred and all of God's people live with him in the city of the New Jerusalem. Yet, "outside" are sorcerers, perverts, murderers, idolaters, and lovers of lies: but maybe this is just a way of saying that those won't (and didn't) get in, not that they literally continue to exist outside.
Is all of this consistent with an interpretation in which at least some Christians are "translated" into the New Jerusalem without going to heaven? Hard to say.