So what I think is the Torah means it both ways. Everything that did happen will happen. So when it says ויאמר אלהים יהי אור ויהי אור it means just like the literal meaning-- and God will say let there be light. And so on for the whole Torah. When it says ייוצא השם ישראל ממצרים It means in the future God will save Israel from every troubling times.
What I am getting at is the idea that you have in the Isaiah "את השמים החדשים ואת הארץ החדשה אשר אני עושה the new heavens and the new earth that I am making." and the idea that Israel goes through lots of periods of trouble. and you see in the book of Judges that God often sends some kind of person to help. So I think that these kinds of events in the Torah were not one time types of things but rather things that will continue to be repeated.
If you read Isaac Luria this kind of idea might resonate a little more with you. It is kind of mystical. I don't mean that I am expecting a new earth. Rather a kind of spiritual light and understanding that I think will come.