Q. Does the bible make any mention of living forever on Earth?

The answer is yes.
Psalms 37:11"But the meek shall inherit the earth; and shall delight themselves in the abundance of peace."

Psalms 37:29 "The righteous will inherit the land And dwell in it forever."

Matthew 5:5"Blessed are the meek: for they shall inherit the earth."

Revelations 21:2:3"... I saw the holy city, new Jerusalem, coming down out of heaven from God, made ready as a bride ........... 3....... a loud voice from the throne, saying, "Behold, the tabernacle of God is among men, and He will dwell among them, and they shall be His people, and God Himself will be among them,…"

Proverbs2:21,22 "For the upright will live in the land,

and the blameless will remain in it;

22but the wicked will be cut off from the land,

and the unfaithful will be torn from it."