The moon was formed in a massive impact 4.5 billion years ago which for a time, gave the Earth a ring. There would have been large, human-satellite-sized rocks at every orbital altitude.
None of these remain. We would expect the number remaining in orbit to decrease asymptotically over time, so if it has decreased to zero (or one, technically) then clearly satellites cannot remain in Earth orbit for many billions of years.
Even the orbit of the Moon has shifted significantly over billions of years.
Aside from orbital changes, things in space erode. A combination of meteoroid impacts, radiation, solar wind, and ablation will eventually obliterate most artefacts in space.
I wonder if NORAD would have detected it if a satellite remained from the previous civilization.