Based on the rumours/leaks so far, we're obviously expecting a redesign next year, but looks like that will at the very least have a pinhole, if not another smaller notch. It won't likely be notch or pinhole free.
2023 will be an 'S' year, so same design with spec upgrades and minor changes.
2024 according to rumours could see a flip/foldable iphone which could be the next major redesign after next year's model. As they're pretty niche I expect they'll release a foldable phone alongside a normal 'candybar' shaped one. Both could be notch/pinhole free.
So I would say 2024 at the earliest is when we'll see a full screen/no notch/no pinhole iPhone - either as a foldable/flip phone or candybar style or both.