Did Jesus Falsely Predict His Second Coming?

Matthew 24:34 reads, "Truly I say to you, this generation will not pass away until all these things take place." (NASB)

For many skeptics this shows that Jesus is a false prophet. Why? Well because they think that Jesus is predicting his second coming at the end of time within the 40 years of those listening to his sermon. But is that the only, or even best understanding of the passage? Or should we understand Jesus' sermon differently?

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