I don’t see how the end of the movie is a cliffhanger? It sets up a sequel, but we can put two and two together what happens between the end of the movie and A New Hope.
I understand where you’re coming from that it sets up for a new hope but the amount of loose threads in this-Darth maul etc clears the path way for a sequel.One could say that they don’t need tying up because they are quite minor compared to others but given the nature star wars as a whole i think that they might make a sequel. Because it is not entirely a cliff hangar it does not need one so that it is why i don’t entirely expect them to make a new one.