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 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 local density of states on the magnetic field is nonuniversal 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 a possible explanation for the recent observation of the apparent nonclosure of the gap at the Majorana TQPT in semiconductor nanowires. DOI: 10.1103/PhysRevLett.109.266402