The tilt of the rotation axis of the Earth is probably twofold. First, it is probably due to Earth formation history. Even though, by angular momentum conservation, planets should have a rotation axis aligned with that of the Sun, their formation history, characterized by accretion and collision of planetisimals, should have perturbated the initial axis. Second, it is due to gravitational perturbations. And actually, regarding this effects, Earth axis should be much more tilted; hopefully, the Moon is there to help.
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