If you look at all the planets, there is something "out of true" with them all.

Mercury has high eccentricity (more than Mars) but very low tilt
Venus has retrograde rotation
Earth has moderate tilt, plus a large Moon
Mars has high eccentricity and moderate tilt
The Asteroids are a real mess
Jupiter has modest eccentricity and low tilt
Saturn has modest eccentricity and tilt
Uranus has extreme tiltand moderate eccentricity
Neptune has moderate tilt but low eccentricity
Pluto has extreme ellipticity, moderate tilt, a big Moon, and is out-of-plane

NONE of our familiar planets have good circular orbits, with low eccentricity and spin axis perpendicular!

Even the Sun's equator doesn't match any of the planet's orbital planes, precisely.

it is likely that random collisions with large objects during the late stages of solar system assembly made everything a bit odd. Since then, things have also interacted in various ways...