Even if the demand for bitcoin remain stable, I wouldn't really say that halvings cause deflation for it. Yes, there would be less bitcoins mined but it's still adding new bitcoins into circulation. Main difference is unlike fiat, you can just pump new bitcoins into circulation to increase inflation so in a sense, yes it's the opposite of inflation.
So in your opinion, deflation will not happen now, but when the supply of bitcoin is fully mined and the demand is high, then deflation will occur?
Deflation will occur when the number of new coins being minted < the number of coins being lost. That point in time technically can't be known since nobody knows for sure when coins have been lost. However, it's likely to take place many decades before the supply is fully distributed.
By 2070, there will only be ~80 new coins minted per year. It's likely Bitcoin will be deflationary by this point, and perhaps a good deal sooner.
I think many of the bitcoins lost was from its first decade, when people still don't take it seriously. I know someone who got gifted a paper wallet which he promptly lost because he wasn't thinking much about it. Then he saw bitcoin in the news around 2016 and realized he used to have some.
These days with people being more careful about handling them, simple errors like forgetting the password to an email/exchange would probably be fewer and there is less and less bitcoin getting "lost".