The provided tafsir indicates that humanity was indeed intended to inhabit the earth.

Firstly, Allah's statement in Surah 2:30, "Verily, I am going to place a Khalifah on earth" (إِنِّي جَاعِلٌ فِى الأَرْضِ خَلِيفَةً), signifies a predetermined plan for human succession on earth. Ibn Kathir clarifies that "Khalifah" here means "people reproducing generation after generation, century after century," citing verses like 6:165 and 27:62, which speak of humans as "generations coming after generations, replacing each other on the earth." This implies a continuous human presence on earth, not merely a temporary sojourn for Adam.

Secondly, the command to Adam, Hawwa', and Shaytan, "Go down from it, all of you" (اهْبِطُوا۟ مِنْهَا جَمِيعًۭا) (2:38), marks the transition from Paradise to Earth as a definitive move for humanity's progenitor. This descent initiated the earthly existence where guidance (هُدًۭى) would be sent, indicating that this earthly life is the context for divine instruction and human accountability.

Thirdly, the Quranic description of Earth's creation (2:29, 79:30-32) details its preparation with water, pasture, and mountains *for mankind and cattle*, suggesting its suitability and purpose as a dwelling place. This deliberate creation of an environment conducive to life reinforces the idea that earth was always intended as humanity's home.

📚 Sources: Classical tafsir (multi-source)