The short answer to this question is “No, we will not ‘run out of’ minerals’.”
The chemical elements that make up the Earth are not (generally) going anywhere. (There are exceptions. Those items that we make into spacecraft that we send outside of Earth orbit are gone, essentially forever. In addition, helium that escapes into the atmosphere rises until it actually does leave the atmosphere. But those are the only examples I know of that describe “unrecoverable” elements, and really, they’re not much.)
All of the other elements that we use, including the so-called “rare earth” minerals that make the news from time to time are used in the production of stuff … which eventually ends up in landfills (or sunk at the bottom of the ocean). So those elements will always be available, but their relative scarcity sends pricing signals to miners that “it’s worth your time and trouble to find more of this stuff”. So they do that. And that’s why we don’t run out, because it’s a big planet, and there is always more of the stuff we need to be found somewhere, if someone will take the trouble to find it, mine it, refine it and sell it.