Though it's probably very unlikely in a solar system as old as ours (~5 billion years), I would not put it out of the realm of possibilities. Most of the collisions of this scale and magnitude have already happened - the early days of the formation of the solar system was violent and full of collisions between protoplanets.
In fact, one hypothesis for the formation of the moon was that it formed from the debris of just such a collision.
Additionally, the axial tilt of Uranus could also be explained by the collision of the planet with a protoplanet billions of years ago.
Is the likelihood zero? No. But I would bet money that collisions between planets and asteroids/comets are much more probable.
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