The restoration of all things is the prophetic restoration completed in the first-century transition.
Heaven receives Jesus until the times of restoration of all things spoken by the prophets. Peter says the prophets spoke of these days.
They spoke of remnant regathering, new covenant, and the end of the old order — not of an infinite postponement of every hope.
The restoration is the transfer from shadow to substance. When the old house was removed, what cannot be shaken remained.