We investigate theoretically the low energy physics of semiconductor Majorana wires in the vicinity of a magnetic field-driven topological quantum phase transition (TQPT). The local density of states (LDOS) at the end of the wire, which is directly related to the differential conductance in the limit of point-contact tunneling, is calculated numerically. We find that the dependence of the end-of-wire LDOS on the magnetic field is non-universal and that the signatures associated with the closing of the superconducting gap at the Majorana TQPT are essentially invisible within a significant range of experimentally relevant parameters. Our results provide an explanation for the recent observation of the apparent non-closure of the gap at the Majorana TQPT in semiconductor nanowires.

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