Your 3 points are spot on. There is a finite number of galaxies we could theoretically reach for the reasons you say. The further away the distant galaxy the greater the expansion of space between us and that galaxy and beyond a certain distance, galaxies can't be reached, even by the speed of light. We can see galaxies that we couldn't possibly travel to.
Does this mean there is a limit to how far we can go, and furthermore,
we will experience the “big rip”?
No. It only means that some galaxies that we can see, we could never travel to. There's no limit to how FAR we can go but there's still a finite number of galaxies that we could reach with close to the speed of light travel.
This article, using the current size estimate for the observable universe of 46 billion light years in radius, says that 14.5 billion light years distance is the limit that we could theoretically reach, about 3% of the observable universe or about 3 billion galaxies.
As for the big rip. Nobody knows if that's an accurate prediction. It's a possible outcome, but we don't know enough about dark energy to say if the big rip will happen or not. Nobody knows.
And it's a pretty psalm, but I don't see the prediction of dark energy in it. Only that it says the Universe will age, but life is eternal - which is a nice thought.