Captain America has always been Steve Rogers. Although others have tried and failed to follow in his footsteps, the more successful inheritors of the Flag ( Cap's uniform) and his shield honored him with their interpretation instead of trying to replace him. Time and time again, Steve Rogers would eventually return to the role he will be forever remembered for until one day when he physically could not. With time finally catching up to him, the now-elderly Steve Rogers entrusted the mantle and legacy to one of the most heroic and trustworthy heroes he knew... Sam Wilson aka The Falcon.
Debuting in Captain America #117 (1969), Samuel Wilson became the first African-American superhero in mainstream comics, introduced as a marooned ex-criminal who helped Captain America battle the Red Skull and a group of wannabe conquerors called the Exiles with the help of his faithful falcon Redwing. Realizing his potential, Sam became Steve Rogers consistent partner, playing a significant role in many Captain America story arcs throughout the years as his powers and costume continued to develop. During 'Civil War', he briefly acted as the leader of the "Secret Avengers" and after Steve Rogers assassination, Sam registered with the government and was assigned to his hometown of Harlem. Despite his pro-registration status, he not only assisted the fugitive New Avengers but also helped mentor Bucky Barnes, the former Winter Soldier continuing Steve's legacy as the new Captain America.
Eventually Steve would return, both to life and to his status as Captain America, but his 2012-2013 adventures in Dimension Z had a profound effect on him and his superhero career. During his time attempting to stop Arnim Zola's planned invasion of Earth, Steve came across a super-villain called the Iron Nail who neutralized the Super Soldier serum within Steve's body. Without it, Steve rapidly aged to become an old man without the super strength and vitality to continue as Captain America. In Captain America #25, Steve and his allies on Earth were able to defeat Zola's forces but at the cost of Sam Wilson who heroically flew away with a bomb meant to destroy New York.
Steve reunited with old friends and allies who celebrated their victory but also mourned the loss of their friend, remembering his constant sacrifice and heroism. To their surprise, Sam also had his own two cents to contribute, revealing that he was able to dodge death due to some vibranium upgrades to his costume thanks to Tony Stark. While the threat of Zola and his armies would have to wait another day, multiple members of the Avengers gathered at the iconic Avengers Mansion where the elderly Steve Rogers announced he was no longer able to be Captain America. Although Steve attempted to follow this monumental announcement with humor, it's never been his strong suit as the former Captain America explained that he would continue to operate in the field alongside his former flame Sharon Carter orchestrating missions and providing tactical support.
As everyone is still processing this information, Steve also announces that he's already chosen his replacement and that this person whom he loves with all of his heart is none other than Sam Wilson, wearing a new version of his Falcon uniform that reflects his new role as Captain America. Making it complete with the passing of the shield, Sam yells out his first "Avengers Assemble!" as Captain America, marking the beginning of a new chapter in both legacies.
Although it would be full of highs and lows, Sam Wilson put his all in being the best Captain America he could, battling racism, Steve's old enemies and juggling his responsibilities as an Avenger as well as mentoring Joaquin Torres, the new Falcon. Although Steve's youth and powers would return, Sam Wilson officially returned the shield and Captain America mantle after the events of 'Secret Empire', believing not only had he truly proven himself as a worthy Captain America but that Steve Rogers needed to repair his reputation and legacy due to the horrible events committed in his name by Hydra.
Although Sam Wilson returned to his old identity as the Falcon in the comics, Sam Wilson's journey in the MCU has only begun with the character portrayed by Anthony Mackie chosen to be Captain America at end of Avengers: Endgame. While we'll have to wait to see what hijinks Sam and Sebastian Stan's Winter Soldier/White Wolf will get into in the upcoming Falcon and the Winter Soldier on Disney plus, Sam Wilson proved in the comics that Steve Rogers made the right choice in making him the next Captain America.