I'm pretty sure 10 years ago many predicted, Apple would not exist today anymore.
And yet, they're stronger then ever.
Don't get me wrong, Cook has stepped in large shoes and the persona of Steve Jobs is unmatched (I don't even watch Apple events anymore). But I think he is doing a really good job. Apple silicon was a great (though risky) decision, abundance of options for Pro users again, laptops are being nicely improved and selling like hot cakes. Smartphone market is now super saturated though, but they are still doing good. And regarding the innovation; Apple car project is deep in the works, so is the upcoming AR/VR device. These things could be absolutely huge in the near future.
for a little bit of comparison:
Anybody following AAA gaming scene might remember, how often new Grand Theft Auto games were being released 20 years ago; every two years a new game. These days, it takes them (Rockstar games) up to 8 years+ to deliver a new GTA game. Why? because they focus so much on quality and they want to prevail in the harsh market. Delivering a nicely polished innovation these days is harder then it was decades ago, too.
Apple is trying to make things great, that's why "Apple car" and similar projects are taking such a long time.
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Will Apple exist in 20, 50 years? Nobody knows. But even if they won't, it wouldn't take away from the shine.