If all the planets in our solar system, and all the stars in the Milky Way, were to all contract into a smaller volume, we would have a huge loss of energy and angular momentum. These are conserved quantities, and so what you suggest would contradict the laws of conservation of energy and angular momentum.
First, you are correct in that planets continue to orbit the sun to conserve angular momentum. It is thought that the solar system began with a cloud of essentially gas and dust that over time condensed to form the planets and our sun. As this cloud began to collapse inward, all this matter began to settle into a spinning disc with a big lump in the center: the Sun. Further collapsing caused the formation of the planets. This process is called accretion. The point is, there was angular momentum present back then, and so there still is (conserved) now, meaning that the planets must maintain their stable orbits (and the sun keeps its own rotational angular momentum, as do all the planets as well).
The formation and motion of the Milky Way also relies on conservation of angular momentum (and energy and linear momentum), for objects in motion within it, though their formation is more complicated, and this time we have many stars (and perhaps planets revolving around them) revolving around the center of a black hole. Universal expansion probably has a little to do with the galaxy itself expanding from its center, though relative to the general expansion of the universe (that causes galaxies to move away from each other), the Milky Way is moving at $\approx 600 km/s$.
Whether dark energy is a significant contributing factor is unknown (I am not aware of any experiments or data that suggest dark energy causes some of the stability - or even expansion - of our galaxy or solar system), though its behavior on cosmological scales is more obvious (if it truly exists).
since the Milky Way (Solar System) could still collapse as long as there is a very fast-rotating central black hole (Sun).
A black hole is destructive only when bodies are close to the event horizon. A black hole from a great distance away is just like any other object that has the same mass. It will not crush things into it from such distances. Its gravitational force behaves the same as anything else with similar mass. If the sun was suddenly turned into a black hole, apart from darkness, nothing else would happen, and the Earth and all planets would continue to orbit it in exactly the same way as before this happens. The same logic would also apply to our galaxy with a black hole in the center of it. Black holes are destructive (in the sense of crushing things into them) only in regions close too, or at the event horizon.
Gravity(acceleration) + transverse_momentum = Orbits
– RBarryYoung Jun 28 '21 at 16:29