I heard a theory (possibly from a crackpot) that there was an event in our solar system where two objects collided and created the asteroid belt, the orbits of some of the planets were altered, and that this event took place late enough for homo sapiens to have referenced observations made during the previous orbit in their oral traditions. (Mars parsing close enough to Earth for people to observe its moons)
Is any of this possible given readily observable evidence? Are asteroid belts ever created in this way?