Actually we find ourselves roughly 1,5cm farther away from the sun each year. So instead of falling towards the sun we actually drift away.
The reason for this is that the sun loses mass. And this slight loss of mass results in a loss of gravitational pull. And thus we drift away.
https://www.forbes.com/sites/startswithabang/2019/01/03/earth-is-drifting-away-from-the-sun-and-so-are-all-the-planets/?sh=4b75f2e6f7d3
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