As long as we have air and water (i.e. as long as we're alive), then we can make propellants such as Methane or Liquid Hydrogen and LOX, Hydrazine & Dinitrogen Tetroxide (or Hydrogen Peroxide).
"and when we drain the planet dry of easily-accessible fossil fuels we’ve deprived any successor civilization of its opportunity to escape the planet."
Successor. Whoever comes along after we've done ourselves in.