Can acommodative esotropia ever go away?

Yes: In some cases, the glasses or contact lens prescription can be reduced and the eyes will still stay straight. At your age, this is unlikely.

Commonly does: This infancy and childhood turning in of the lids due to high hyperopia (plus lens powers), disappears with proper glasses (return when they are removed) and gradually improves with growth and time as the hyperopia lessens. If the vision is preserved in both eyes (should be followed by an ophthalmologist), then good vision is possible for a lifetime without eyeglass needs.