This is really going to be very very debatable, but it's really possible in my opinion. Bitcoin's accessibility, self-custody, "uncensorability", and portability(to name a few) characteristics are just so great but the masses tend to overlook it. People think that letting companies hold your gold for you is fine, completely ignoring the fact that these companies can simply just not give them access to the gold some time in the future.
But then again, there are no guarantees in life. Bitcoin isn't guaranteed to replace gold; but I think there's a good chance. It's just that people haven't realized how much they need bitcoin's characteristics. It's one of those things people won't realize until it's too late.
With that said, even if I think bitcoin could replace gold in terms of a "hedge" asset, I don't think that gold is going anywhere any time soon.
I believe that both Gold and Bitcoin will co-exist for many generations. Bitcoin will become the "golden standard" of the digital world, while traditional Gold will be used in the physical realm (just like it's the case today). Despite the many benefits Bitcoin provides, most people haven't noticed it yet. They're more inclined to Gold because it's much more trusted that Bitcoin itself. After all, Gold is much older than Bitcoin as an asset/commodity. Companies providing Gold custody services bring many risks of a single point of failure, yet people continue to put their faith in these entities. Bitcoin is better than Gold in the sense that it's censorship resistant, meaning only you are the sole owner of your funds. While it's also possible to do this with physical Gold, the lack of portability makes storing it at home (or travelling with it) somewhat inconvenient.
As you've said before, there are no guarantees that Bitcoin will replace Gold someday. All we can do is speculate what its outcome will be according to adoption in the mainstream world. If real use cases for the mainstream world are low (usability), then Gold will still be the preferred store of value by serious investors worldwide. Whenever it's Bitcoin or Gold, there's always a choice for people looking to preserve their capital against inflation. I'd choose Bitcoin over Gold anytime because of the aforementioned benefits. Just my thoughts