I assume spontaneous separation to ions of salt solution (or acid)
requires energy to occur, right?
Yes, it requires energy to occur. This energy is usually referred to as the activation energy. It is a measure of the energy barrier that must be surmounted for the process to occur. In the case of salts ionizing in solution, the barrier is usually (but not always) quite small. Salts that dissolve and give off heat (exothermic) will have a lower barrier than salts that require energy input (endothermic) to dissolve.
image source: http://web.campbell.edu/faculty/nemecz/323_lect/enzyme_mech/mech_chapter.html
Where does that energy come from? Is it from the heat of the solution?
The energy comes from the surrounding environment. The surrounding molecules have a thermal energy that can be transferred through collisions with the reactants. The reactants will convert to products once enough energy has been imparted to them to cross the barrier.
Now, if someone devised a way to draw potential energy from those
separated ions, could he make this process continuous
I think you're asking if the energy withdrawal can be made continuous. If so, then the answer is "yes" - at least until all of the starting material has been consumed and converted to product. This is done today, examples would include batteries, gasoline, power generators in general, etc.