(I realize that sounds callous, but my long-term partner split from me today and I'm a little drunk, so spare me :p )
What the world in the short-term and 30 years from now needs is someone new to think about and develop philosophies around today's software freedom concerns.
What's that look like? I dunno, I'm not that thinker.
What RMS did was profound and important for that time in history. The last few years, everything he's written seems goofy and childish. What we need is an RMS for the modern era, i.e. a significant thinker who can speak to the next 20 years of people.
Sad to say, like most nonprofits, there's no succession plan.