I think so, Yes.
To make myself clear though - the kingdom will always be spiritual. The spiritual aspect won't cease to be.
Just as your spirit won't cease to be when you are resurrected with a new body - your redemption is then complete
As for the kingdom on earth, Look;
Isaiah 2~
This is what Isaiah son of Amoz saw concerning Judah and Jerusalem:
2 In the last days
the mountain of the Lord’s temple will be established
as the highest of the mountains;
it will be exalted above the hills,
and all nations will stream to it.
3 Many peoples will come and say,
“Come, let us go up to the mountain of the Lord,
to the temple of the God of Jacob.
He will teach us his ways,
so that we may walk in his paths.”
The law will go out from Zion,
the word of the Lord from Jerusalem.
4 He will judge between the nations
and will settle disputes for many peoples.
Psalm 2
1 Why do the nations conspire
and the peoples plot in vain?
2 The kings of the earth rise up
and the rulers band together
against the Lord and against his anointed, saying,
3 “Let us break their chains
and throw off their shackles.”
4 The One enthroned in heaven laughs;
the Lord scoffs at them.
5 He rebukes them in his anger
and terrifies them in his wrath, saying,
6 “I have installed my king
on Zion, my holy mountain.”
7 I will proclaim the Lord’s decree:
He said to me, “You are my son;
today I have become your father.
8 Ask me,
and I will make the nations your inheritance,
the ends of the earth your possession.
9 You will break them with a rod of iron;
you will dash them to pieces like pottery.”
10 Therefore, you kings, be wise;
be warned, you rulers of the earth.
11 Serve the Lord with fear
and celebrate his rule with trembling.
12 Kiss his son, or he will be angry
and your way will lead to your destruction,
for his wrath can flare up in a moment.
Blessed are all who take refuge in him.