Physical bodies do not get resurrected as physical bodies and live on Earth, they get resurrected as spiritual bodies and go to Heaven (1 Corinthians 15:40-54)
Yes, the righteous and the unrighteous will live together on Earth, and eventually the unrighteous will choose to become righteous..
Only those who are part of the first or earlier resurrection get resurrected as spirit bodies and go to Heaven - Rev. 20:6
Flesh and blood ( physical ) do Not go to Heaven - 1st Cor. 15:50
People like those of Luke 22:28-30; Daniel 7:18 go to Heaven. Heaven is for those saints/holy ones.
They go to Heaven in order to govern with Jesus over Earth for a thousand years - Rev. 5:9-10
Starting with the living righteous ' sheep ' at Jesus coming Glory Time - Matthew 25:31-34,37 - they remain on Earth.
A person must die in order to be resurrected either to Heaven or later on Earth - Acts 24:15
If the unrighteous choose to remain unrighteous and even become wicked they will Not inherit the Earth.
ALL the wicked will be: destroyed forever - Psalm 37:38; 92:7; 104:35; Proverbs 2:21-22