The answer depends on solar position of the planets at any given point. Venus can get the closest to Earth (around 23.7 million miles) but both Mars and Mercury can also get close. This is because the planets do not have true circular orbits, rather they orbit in elliptical patterns. This means the distance of the the four inner planets may vary immensely from time to time. However, if we consider on average which planet gets the closest to Earth it would be Venus.
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