I think the article below best answers your question. Think of the earth’s distance from the sun as fixed but the habitable zone is expanding outwards.

I can’t speak to evolution at all.

For your follow up question in a sci fi way if Venus was in the habitable zone before earth yes we would need to move outward in the solar system.

I think the most fascinating fact in the article is that earth has already moved through 70% of the habitable zone.

https://www.nature.com/articles/nature.2013.13788