Absolutely it is possible, though not likely. A lot can change in a few billion years… but we don’t know anywhere near enough right now to say for sure. There are no clues in plain sight to confirm the possibility. I don’t pretend to know the full extent of what has been researched and found, but suffice to say… it is tough to find things. Even when you are standing right there looking for something you can miss it completely. (Ever misplaced your keys only to find t were right there all along?!) On Mars this is even more difficult, as in addition to the fact that the only way we can search for things is through cameras and robotics we are pretty much only searching for clues left behind of the things that are more than likely long since disappeared. Combine that with the likelihood that asteroids, wind, water/lava flows, and a combination of a bunch of other things may have completely destroyed all the evidence left for us to find to and tell the story we were not there to witness. Recently though we have been finding some really interesting things. NASA has confirmed that t found water on Mars still flowing today! - NASA Confirms Evidence That Liquid Water Flows on Today’s Mars There was also a weird spike in Oxygen that t found. - Curiosity Rover Serves Scientists a New Mystery. Oxygen T also found methane. This could be released from organisms or just a byproduct of the planet itself, but it is another place to investigate further. - Curiosity's Mars Methane Mystery Continues I think around that same time it was when the rover found some elements that point to what we typically see as organic material. - NASA Finds Ancient Organic Material, Mysterious Methane on Mars Now of course none of these things are conclusive, definitive, or anything of the like, but t are all promising bread crumbs that could lead to something truly interesting in the future. We have also found a lot of clues as to what may have happened to Mars. Clues of the planet losing its atmosphere, storms and such leading to the disappearance of water, etc. Long story shot. Possible. But, we are a long way from proving anything definitively… if there is even any evidence still there for us to find…
And those pieces were carried there by the gravity of Mars (or other planets) and eventually landed upon Earth. So those can also be brought back to Mars, you may be interested in that. Now, the NASA Mars 2020 mission will be flying some sample return missions to the planet, and one of those samples was sent into the orbit of Earth, by a space debris that could potentially come from a meteorite of some kind. Now, the problem, as you mentioned, is that this spacecraft is designed to go with this sample return mission, it will be launched by the Mars 2020 mission, so if the space debris comes from Mars, in theory, this spacecraft can go back out there and gather it. But in some cases, these spacecraft are designed to collect samples from other planets. So the thing you need to know, is that at some point, this.