Magnetic fields work like gravity, just a little different scale. Take two magnets and they attract each other, and it takes effort to separate them. If you take two rocks they also attract each other, take a boulder and earth.
You can’t get infinite energy out of magnets for the same reason you can get infinite energy out of rocks rolling down hill. Either the rock was already on top, in which case you’re eating up the hill, or someone has to carry that rock to the top which takes way more energy than you’ll ever recover.
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