Since KiCAD 7.0, you can use the kicad-cli command line tool to export a pick & place position TSV file from a KiCAD project.
First, find out what the filename of the PCB file is. Typically, if your project is named MyPCB.kicad_pro, your main schematic file is named MyPCB.kicad_pcb.
Now you can export the position file using
kicad-cli pcb export pos MyPCB.kicad_pcb --units mm
This will output, for example
Loading board
If the PCB file is named MyPCB.kicad_pcb, the position file will be called MyPCB.pos.
You can also set a custom output file name such as out.pos using the -o option.
kicad-cli pcb export pos MyPCB.kicad_pcb -o out.pos --units mm