No, Mars was not formed by the moom-forming impact event between Gaia and Theia. The moon is the remnant you’re talking about, not Mars.
I think the fact that it’s really far away, in a circular orbit, and doesn’t have a big chunk missing is still a good sign that mars isn’t theia
Why would it have a chunk missing after all this time? If it did could we even tell? Whatever it was isn’t still in the area so being far away may not mean much. Circular orbit is probably biggest reason it’s likely not Mars, although it could have evened out relatively recently.
This simulation shows the Mars sized object merging with Earth so there goes that theory.