I am trying to think about it an I'm not sure, nor have I been sufficiently persuaded, to believe the possibility exists. The odds for the conditions for earth to exist as it does now without being destroyed by a foreign body, burnt up by the sun, iced over, biologically destroyed, swallowed by a black hole, etc... is astronomical in and of itself. For two to exist with such a long shot maybe impossible with the amount of stars that are out there...Who knows?
"Might" be impossible, but the probability (that there exists another planet similar to Earth) does NOT equal zero.
I think we could find many Europas out there that have an insulative ice covering with an ocean underneath. We'll have no way of knowing whether or not life exists on these worlds without going there and drilling through the icy shell. This won't be happening anytime soon unless we discover warp drive in the next five years.