the earth did collide with another planet billions of years ago and the resulting impact created the moon and the earth we have today. it is why rocks from the moon can also be found on earth. Simulations can predict where planets will be over time and there is no risk of planets colliding, the solar system is pretty stable now. Asteroid impacts however could still happen so technology is being developed now to move asteroid if they every pose a threat.
It’s highly unlikely, but not impossible. It probably wouldn’t be an entire planet, but there are lots of other things flying around out there that could do some serious damage to the earth.
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