There’s enough energy just in the very thin crust of our planet to run human society for hundreds of thousands of years. Getting to it and bringing it to the surface is the challenge. Now a new team of engineers, scientists and entrepreneurs, who were clearly Star Wars fans as children, has developed an immensely powerful ‘ray gun’ that can vaporise rocks down to twenty kilometres.
Tldr: no
Theoretically yes but in practice the heat reservoir of the earth is so vast that we’re never going to deplete it. It’s not just the current thermal energy either: the majority of the heat in the Earth is from radioactive decay. Geothermal just functions as a nuclear powerplant except the fuel is 99% of the Earth’s mass.