It turns out that terrestrial planets and their moons can be moved around by civilizations more advanced, if not as advanced as ours. All they would need is determination to knock out a massive asteroid off of its orbit and keep that asteroid on a carefully plotted course between the inner solar system (≈0.5-1.75 AU) and the outer solar system (60 AU) maximum distance, and a gas giant (an intermediary) from which orbital potential would be borrowed.
Although it would be easy to wean Earth to an orbit further from the Sun and call it a success. It is much better to start with planets that are closer to the Sun. Without the Earth in its usual orbit Mercury and Venus orbits would be destabilized to a point where they would be more gravitationally attracted to the Sun.