The moon’s motion away from the Earth is not a constant rate. Every month, the moon gets closer by about 13,000 miles, then it gets further away by about 13,000 miles. On average, over many decades, the distance increases by about 1.5 inches per year.

But that 1.5 inches doesn’t matter for getting energy from the moon. The moon going around the Earth is what cause tides, and we can and do get energy from tides.

https://education.nationalgeographic.org/resource/tidal-energy