Is it to impedance match the output of the circuit with the impedance of the antenna?
Yes, actually, that is some excellent deduction!
The output impedance at the collector of the transistor is typically quite high, while the antenna usually has a much lower impedance (usually about 50 ohms for regular antennas). Directly connecting the antenna to the collector would result in a significant mismatch, leading to inefficient power transfer and reduced signal strength. By tapping the coil, the circuit essentially creates an impedance transformation, allowing for a better match between the transistor's output and the antenna.