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How about this: a simple, one-off 10-episode series featuring the old gang - Rick, Michonne, Daryl, Maggie, etc. - all in the Commonwealth. The story could revolve around the Commonwealth being overrun by walkers, but this time, they manage to fight them off and save the community. The message would be that humanity has finally evolved and adapted to the point where they can overcome a threat like this and create a safe future. It's their happily ever after. That’s how you end The Walking Dead: one final story that brings everything full circle, making the walkers the main threat again - but this time, the people have the means to deal with it. Naturally, Rick leads them to victory.
If they wanted to, they could even end with Rick being killed by some pathetic rando like he was in the comics. The way Kirkman explained was that Rick died the way he died because he had managed to build a community that was safe enough for him to let his guard down to the point of getting killed like that. So they could use the same message - but it could be too depressing for fans since Rick already "died" once, so they probably want the happily ever after.