Could a Planet Ever Collide With Earth?

Planetary collisions may have helped shape our solar system, so could we expect another impact in the future?

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Planet-Shifting Collision Shaped Uranus’ “Rolling” Rotation
https://www.nasa.gov/feature/ames/planet-shifting-collision-shaped-uranus-rolling-rotation
“Scientists have always wondered how Uranus got tilted so much that it spins on its side, and now research on the planet’s early formation gives us new insight.”

Two Worlds Collide in Deep Space
https://www.space.com/7116-worlds-collide-deep-space.html
“The two-planet pileup occurred within the last few thousand years or so - a relatively recent cosmic timeframe. The smaller of the two bodies - a planet about the size of Earth's moon, according to computer models - was apparently destroyed by the crash. The other was most likely a Mercury-sized-planet and survived, albeit severely dented.”

Earth’s Moon | In Depth
https://solarsystem.nasa.gov/moons/earths-moon/in-depth/
“The leading theory of the moon's origin is that a Mars-sized body collided with Earth about 4.5 billion years ago. The resulting debris from both Earth and the impactor accumulated to form our natural satellite 239,000 miles (384,000 kilometers) away.”

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