Will humanity actually consume all of Earth's forms of energy before humans go extinct (or before human planetary migration)?
No, on a technicality.
We might be able to consume all the fossil fuels and mine out all the nuclear fissionable ores but there are always other sources of energy. But there are many MANY non-consumable sources of energy.
Geo-thermal is fairly reliable.
Hydroelectric power is very reliable provided weather patterns don't shift too often, but even then new hydro plants could be built.
Solar and Wind can be used intermittently with their excess being used to pump water uphill to provide Hydroelectric power when needed.
Tidal stations will be viable for as long as the Moon orbits the Earth which is estimated to be longer than the time before the Sun swallows the Earth.
We can create Ethanol fuel by growing and refining sugar cane.
We might even master Fusion which would give us unparalleled quantities of energy by taking the hydrogen atoms from water or other hydrogen rich molecules.
And here's the kicker, we can use those other forms of energy to make whatever oils or oil derived products we might require.