Mass is energy. You cannot create or destroy mass/energy. What happens is that when two objects attract each other and meet, other forces within the masses (nuclear, electromagnetic) negate the acceleration of gravity, and the system settles into a basicslly static energy state.
Remember to, that objects in gravitational free fall experience no force. Time gradients that surround all masses change the path through spacetime that objects follow, which gives the illusion of attraction or acceleration . But what actually happens is that the spacetime curvature the objects follow bend until they meet. Only when the objects meet do forces manifest and exchange energy.
Even an apparently motionless object follows a path through spacetime.
So to answer your question directly, yes, gravity requires energy, which it has by virtue of the fact that mass is energy.
Eventually entropy will cause all mass/energy to disperse.
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