So could we.
Very unlikely. “Dwarf planets” according to the new and improved definition, haven’t cleared their orbits. In other words, they didn’t form as a typical planet according to the Nebular Theory. That is, gradually coalescing from planetesimals in the same general orbit until they’re all eventually swept up into one single planet. By all appearances, that’s how the earth formed. Pluto and Ceres, both dwarf planets, are just parts of a larger collection, i.e. the Kuiper and asteroid belts, respectively. They never coalesced into a single object. They’re basically planetesimals, if Nebular Theory still applies.